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Hemisphere GNSS

Technical Reference

Manual Current Version: v3.0 December 30, 2019

Introduction

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Introduction The Hemisphere GNSS Technical Reference Manual (TRM) is a resource for software engineers and system integrators to configure GNSS receivers. It may also be useful to persons with knowledge of the installation and operation of GNSS navigation systems.

The TRM includes information on GNSS technology and platforms, general operations of receiver, and the commands and messages you need to operate your receiver and/or other HGNSS hardware. Use the following links to navigate quickly throughout the contents of this manual:

Quick Start - the basic information you need to get started using your Hemisphere GNSS receiver.

GNSS Technology and Platforms -an overview the GNSS engine, satellite tracking information, positioning, accuracy, and update rates of NMEA 0183 and binary messages.

DGNSS Solutions

Receiver Operation introduces general operational features of the receiver,receiver operation modes, and default operation parameters.

Commands and Messages are grouped by type (General, GNSS, e-Dif, Data, RAIM, etc.). You can find a listing of all commands in the Commands and Message table. For a more detailed description of each message and command, click the link to navigate to that specific command or message.

Firmware

Resources provides resources for additional information.

Change History lists all the topics in this manual along with the latest update description and change date.

Troubleshooting provides troubleshooting advice for common questions.

No part of this manual may be reproduced, transmitted, transcribed, stored in a retrieval system or translated into any language or computer language, in any form or by any means, electronic, mechanical, magnetic, optical, chemical, manual or otherwise, without the prior written permission of Hemisphere GNSS.

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Introduction and Quick Start Introduction

The Hemisphere GNSS Technical Reference Manual (TRM) is a resource for software engineers and system integrators to configure GNSS receivers. It may also be useful to persons with knowledge of the installation and operation of GNSS navigation systems.

The TRM includes information on GNSS technology and platforms, general operations of receiver, and the commands and messages you need to operate your receiver and/or other HGNSS hardware. Use the following links to navigate quickly throughout the contents of this manual:

Quick Start - the basic information you need to get started using your Hemisphere GNSS receiver.

GNSS Technology and Platforms -an overview the GNSS engine, satellite tracking information, positioning, accuracy, and update rates of NMEA 0183 and binary messages.

DGNSS Solutions

Receiver Operation introduces general operational features of the receiver,receiver operation modes, and default operation parameters.

Commands and Messages are grouped by type (General, GNSS, e-Dif, Data, RAIM, etc.). You can find a listing of all commands in the Commands and Message table. For a more detailed description of each message and command, click the link to navigate to that specific command or message.

Firmware

Resources provides resources for additional information.

Change History lists all the topics in this manual along with the latest update description and change date.

Troubleshooting provides troubleshooting advice for common questions.

No part of this manual may be reproduced, transmitted, transcribed, stored in a retrieval system or translated into any language or computer language, in any form or by any means, electronic, mechanical, magnetic, optical, chemical, manual or otherwise, without the prior written permission of Hemisphere GNSS.

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Quick Start Quick Start contains basic information to get you started using your Hemisphere GNSS receiver.

What is my receiver type? Send the JHTYPE,SHOW command. How do I load firmware onto my receiver, and why would I do this? To load firmware, use RightARM, Loading firmware allows you to run application specific capabilities. What is my current receiver configuration? Send the JSHOW query. What is my Vector receiver configuration? Send the JATT,SUMMARY query. What commands are supported by my receiver? First, send the JHTYPE_SHOW command to identify the GNSS engine in your receiver. Then, go to the Overview (?) topic for a list of commands supported by that GNSS engine. Overview topic for commands supported by that GNSS engine. How do I send a command to my receiver? Connect your receiver to a PC and use a terminal program (i.e., HyperTerminal), or Hemisphere GNSS' PocketMax, or SLXMon. For more information, refer to the User Guide for your product. User Guides can be found on the Hemisphere GNSS website. How do I turn on data messages (such as GPGGA) for a receiver? See Configuring the Data Message Output.

Topic Last Updated: v1.11 / November 15, 2018

https://www.hemispheregnss.com/firmware-software#utility

https://www.hemispheregnss.com/firmware-software#utility

https://www.hemispheregnss.com/technical-documentation/

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GNSS Technology and Platforms GNSS Engine Overview The GNSS engine is always operating regardless of the DGNSS mode of operation. The following sections describe the general operation of the receiver.

Satellite Tracking

Positioning Accuracy

Update Rates Both the GNSS and SBAS operation of the receiver module feature automatic operational algorithms. When powered for the first time, the receiver system performs a "cold start," which involves acquiring the available GNSS satellites in view and the SBAS differential service. To do this, the receiver needs a compatible GNSS antenna connected that offers a relatively clear, unobstructed view of the sky. While you can often achieve this indoors with an antenna placed against a window, you may need to place the antenna outside (i.e., on a roof or a short distance away from the building).

If SBAS is not available in a particular area, an external source of RTCM SC-104 differential correction may be used. If an external source of correction data is needed, the external source needs to support an eight data bit, no parity and one stop bit configuration (8-N-1). See also SBAS Overview.

Topic Last Updated: v1.07 / February 16, 2017

GNSS Technology and Platforms

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Satellite Tracking The receiver automatically searches for GNSS satellites, acquires the signal, and manages the associated navigation information required for positioning and tracking. This is a hands-free mode of operation. Satellite acquisition quality is described as a signal-to-noise ratio (SNR. The higher the SNR, the better the signal reception quality. SNR information is provided by the receiver through the use of NMEA 0183 data messages available via its multiple serial ports.


Printed Documentation

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Positioning Accuracy The receiver is a sub-meter product with 95% horizontal accuracy under ideal conditions.

To determine the positioning performance of the receiver, Hemisphere GNSS gathers a 24-hour data set of positions in order to log the diurnal environmental effects and full GPS constellation changes. Data sets shorter than 24 hours tend to provide more optimistic results.

The horizontal performance specification of 95% accuracy is, as stated above, based on ideal conditions. In reality, obstruction of satellites, multipath signals from reflective objects, and operating with poor corrections will detract from the receiver’s ability to provide accurate and reliable positions. Differential performance can also be compromised if the receiver module is used in a region without sufficient ionospheric coverage.

Further, if external corrections are used, the baseline separation between the remote base station antennas can affect performance.

The estimated positioning precision is accessible through the use of NMEA 0183 command responses as described Commands and Messages.

Because the receiver cannot determine accuracy with respect to a known location in real time (traditionally performed in post-mission analyses), the precision numbers are relative in nature and are only approximates.



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Update Rates The update rate of each NMEA 0183 and binary message of the receiver can be set independently with a maximum that is dependent upon the message type. For example, some messages have a 1 Hz maximum while other messages have a 50 Hz maximum. The higher update rates, such as 20 Hz, are an option and can be obtained at an additional cost.

Higher update rates are valuable for applications where:

• Higher speeds are present such as in aviation

• You have manual navigational tasks such as in agricultural guidance

• You have an automated or autonomous navigational task such as in robotics or machine control.

Keep the following in mind regarding message rates:

• Some messages can only be OFF or ON (0 or 1Hz) Example: $JASC,RTCM3,1

• Some messages can only be 0 or 1 Hz, but will come out once first, then only if they change Example: $JASC,BIN95,1

• Messages that are available at other rates can be set to rates SLOWER than 1 Hz (see Note 1 below Example: $JASC,GPGGA,0.1

• If the receiver is subscribed to 10 or 20Hz, the receiver can log at rates FASTER than 1 Hz (See Note 2 below.) Example: $JASC,GPGGA,5Note 1: Slower than 1 Hz.

Use the following guidelines:

To log once every x seconds

Use JASC,xxxx,

2 0.5 3 0.3333

4 0.25

5 .2

6 0.1667

7 0.1429

8 0.125

9 0.1111

10 0.1

15 0.0667

20 0.05

25 0.04

40 0.025

50 0.02

100 0.01

120 0.0083

Rates not listed above may be possible, but may not log on integer seconds. Users should test to see if the results are acceptable for their application.

Note 2: Faster than 1Hz, if subscribed.


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For traditional firmware support is 20 Hz, Acceptable rates are 1, 2, 4, 5, 10 or 20 Hz. Using rates other than those listed will result in data appearing in a rate similar to the rate requested, but the data times will be quantized to 0.05 second resolution. This is due to the receiver’s internal computing rate of 20 Hz. Time resolution is 0.05 seconds even if the receiver is only subscribed for 10 Hz data. Quantizing may result in a slightly different number of messages per minute than expected. For example, 3 Hz data produces approximately 172 messages per minute due to quantizing, instead of the expected 180 messages.

Some products and firmware support 50 Hz. Acceptable rates are 1, 2, 5, 10, 25, or 50. Using rates other than a factor of 20 Hz may result in quantized data. Regardless, the data in the message is referenced to the time of the message.



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Multi-Function Application (MFA) Software Your device may include MFA software that allows you to set the positioning (mode) hierarchy of your device. To verify if your device contains MFA software send the $JAPP command to the device; the response indicates whether you have MFA as follows:

• Without MFA (two specific applications listed) Example: $>JAPP,WAASRTKB,AUTODIFF,1,2

• With MFA (MFA and one specific application listed) Example: $>JAPP,MFA,SBASRTKB,1,2

The hierarchy is the path your device follows to determine what differential source to use depending on available sources. The hierarchy is as follows:

1. RTK

2. L-band (Atlas)

3. SBAS

4. Beacon

5. External RTCM

6. Autonomous

If you are running RTK and you lose your RTK radio link, the device defaults to the next highest mode, either Atlas high precision service or SBAS (if available). If the new signal becomes unusable, the next mode will be selected (for example Beacon or External RTCM). Finally, if no correction signals are available, the device defaults to Autonomous.

You can include or exclude specific sources. For example, you can exclude sources that you do not want your device to use, such as if you want to use only beacon. If you do not exclude the other sources your device may use SBAS instead. Another example is if you want to exclude Atlas (when you do not have an Atlas subscription) to conserve power. You include and exclude sources using the $JDIFFX,INCLUDE and $JDIFFX,EXCLUDE commands, respectively.



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Hemisphere GNSS Hardware Platforms

Hemisphere GNSS offers the following hardware platforms:

• Positioning OEM boards and receivers

• Heading OEM boards and receivers

• Beacon OEM boards



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Universal Development Kit The Universal Development Kit allows you to integrate a Hemisphere GNSS OEM board into your design and includes the following:

• Enclosure

• Main carrier board

• Set of three adapter boards for use with small form factor Hemisphere GNSS OEM boards

• Power cable and AC power supply

• Two serial cables- one straight serial cable and one null modem cable for RTK

The Universal Development Kit supports the following Hemisphere GNSS OEM boards:

• Enclosure

• Crescent

• Crescent Vector II

• Eclipse II

• miniEclipse

• LX-2 (L-band DGPS and high precision services)

Depending on the Hemisphere GNSS OEM board you purchase with your Universal Development Kit, an Integrator Guide is available for download from the Hemisphere GNSS website.

Last Updated: v1.06 / March 10, 2015

https://www.hemispheregnss.com/

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DGNSS and RTK Solutions SBAS SBAS Overview The following topics describe the general operation and performance monitoring of the Space-Based Augmentation System (SBAS) demodulator within the receiver module:

SBAS Automatic Tracking

SBAS Performance

WAAS DGPS

WAAS Signal Information

WAAS Reception

WAAS Coverage

Topic Last Updated: v1.00 / August 11, 2010

DGNSS and RTK Solutions

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SBAS Automatic Tracking The SBAS demodulator featured within the receiver automatically scans and tracks multiple SBAS satellite signals, as specified by the JWAASPRN command (defaulted to WAAS PRN 135 and 138, suitable for use in North America).

If the default satellites become disabled, the receiver automatically tracks different satellites. This automatic tracking enables you to focus on other aspects of your application rather than ensuring the receiver is tracking SBAS correctly.

The SBAS demodulator features two-channel tracking that enhances the ability to maintain acquisition on an SBAS signal satellite in regions where more than one satellite is in view. This redundant tracking approach results in more consistent signal acquisition in areas where signal blockage of either satellite is possible.



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SBAS Performance SBAS performance is described in terms of bit error rate (BER). The SBAS receiver requires a line of sight to the SBAS satellite to acquire a signal.

The BER number indicates the number of unsuccessfully decoded symbols in a moving window of 2048 symbols. Due to the use of forward error correction algorithms, one symbol is composed of two bits. The BER value for both SBAS receiver channels is available in the RD1 message.

A lower BER indicates data is being successfully decoded with fewer errors, providing more consistent throughput. The BER has a default no-lock of 500 or more. As the receiver begins to successfully acquire a signal, a lower BER results. For best operation, this value should be less than 150 and ideally less than 20.

SBAS broadcasts an ionospheric map on a periodic basis and it can take up to five minutes to receive the map on startup. Until it downloads the SBAS map the receiver uses the broadcast ionosphere model, which can result in a lower performance compared to when the map has been downloaded. This is the case for any GNSS product supporting SBAS services.

Topic Last Updated: v.1.11/November 15, 2018


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WAAS DGPS SBAS services take in reference data from a network of base stations to model the sources of error directly, rather than computing the sum impact of errors upon observed ranges. The advantage of this approach is that the error source can be more specifically accounted for during the correction process.

Specifically, WAAS calculates separate errors for the following:

• Ionospheric error

• GPS satellite timing errors

• GPS satellite orbit errors

Provided that a GNSS satellite is available to the WAAS reference station network for tracking purposes, orbit and timing error corrections will be available for that satellite. Ionospheric corrections for that satellite are only available if the signal passes through the ionospheric map provided by WAAS, which covers most of North America.

To improve the ionospheric map provided by WAAS, the receiver extrapolates information from the broadcast ionospheric coverage map, extending its effective coverage. This allows the receiver to be used successfully in regions that competitive products may not. This is especially important in Canada for regions north of approximately 54° N latitude and for outer regions of the Caribbean.

The process of estimating ionospheric corrections beyond the WAAS broadcast map is not as good as having an extended WAAS map and accuracy degradation may occur.

The map links below depict the broadcast WAAS ionospheric map coverage and the Hemisphere GNSS extrapolated version, respectively. As the two maps show, the Hemisphere GNSS extrapolated version’s coverage is greater in all directions, enhancing usable coverage.

• Broadcast WAAS ionospheric correction map

• Extrapolated WAAS ionospheric correction map

Topic Last Updated: v1.11/November 15, 2018


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WAAS Signal Information WAAS and other SBAS systems transmit correction data on the same frequency as GPS, allowing the use of the same receiver equipment used for GPS. Another advantage of having WAAS transmit on the same frequency as GPS is that only one antenna element is required.



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WAAS Reception Since WAAS broadcasts on the same frequency as GPS, the signal requires a line of site in the same manner as GPS to maintain signal acquisition.

Because of their locations, SBAS satellites may appear lower on the horizon than GPS satellites—it depends on the geographic position on land. When using WAAS correction data, the receiver can provide the azimuth and elevation of all satellites to aid in determining their position with respect to the antenna.



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WAAS Coverage The figure below depicts the current WAAS coverage provided by the geostationary satellites.

The WAAS satellites are identified by their pseudo-range-number (PRN). In some areas, two or more satellites may be visible.

Note: Signal coverage may be present in some areas without either sufficient ionospheric map coverage or satellites with valid orbit and clock corrections. In such cases performance may be degraded compared to areas fully covered by the WAAS ionospheric coverage.



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EGNOS The European Geostationary Navigation Overlay Service (EGNOS) uses multiple geostationary satellites and a network of ground stations to transmit differential correction data for public use. EGNOS is currently located over the Atlantic Ocean and Africa.

Because of their location over the equator, these satellites may appear lower over the horizon as compared to GPS satellites - depending upon the geographic position on the land. In regions where the satellites appear lower on the horizon, they may be more susceptible to being masked by terrain, foliage, buildings or other objects, resulting in signal loss. Increased distance from the equator and the satellite's longitude cause the satellite to appear lower on the horizon.

The figure below shows approximate EGNOS coverage provided by the satellites. Virtually all of Europe, part of Northern Africa, and part of the Middle East is covered with at least one signal. Most of Europe is covered by three signals.



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MSAS The MTSAT Satellite-based Augmentation System (MSAS) is currently run by the Japan Meteorological Agency (JMA). MSAS provides GPS augmentation information to aircraft through MTSAT (Multi-functional Transport Satellite) located approximately 36000 km above the equator (geostationary earth orbit).

MSAS generates GPS augmentation information by analyzing signals from GPS satellites received by monitor stations on the ground. This augmentation information consists of GPS-like ranging signal and correction information on GPS errors caused by the satellites themselves or by the ionosphere.

The MSAS signal provides accurate, stable, and reliable GPS position solutions to aircraft, resulting in a considerable improvement in the safety and reliability of GPS positioning. This enables aviation users who are under very strict safety regulations to use GPS positioning as a primary navigation system.

Visit http://www.jma.go.jp/jma/jma-eng/satellite/ for more information on MSAS and MTSAT.


http://www.jma.go.jp/jma/jma-eng/satellite/


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GAGAN The GPS Aided Geo Augmented Navigation system (GAGAN) was deployed by the Indian government . It operates similarly to the other SBAS regions described previously and will broadcast on one geostationary satellite (PRN 127) over the Western portion of the Indian Ocean. GAGAN is visible in India at elevation angles in excess of 50º above the horizon. This provides an excellent correction source in virtually all areas of the subcontinent.



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Radiobeacon Radiobeacon Range The broadcasting range of a 300 kHz beacon depends on a number of factors, including:

•��Transmission power

• Free space loss

• Ionospheric state

• Surface conductivity

• Ambient noise

• Atmospheric losses

Signal strength decreases with distance from the transmitting station, mostly due to spreading loss. This loss is a result of the signal’s power being distributed over an increasing surface area as the signal radiates away from the transmitting antenna.

The expected broadcast range also depends on the conductivity of the surface over which it travels. A signal will propagate further over a surface area with high conductivity than over a surface with low conductivity.

Lower conductivity surfaces, such as dry, infertile soil, absorb the power of the transmission more than higher conductivity surfaces, such as sea water or arable land.

A radio beacon transmission has three components:

1. Direct line-of-sight wave

The line-of-sight wave is insignificant beyond visual range of the transmitting tower and does not have a substantial impact upon signal reception.

2. Ground wave

The ground wave portion of the signal propagates along the surface of the earth, losing strength due to spreading loss, atmospheric refraction and diffraction, and attenuation by the surface over which it travels (dependent upon conductivity).

3. Sky wave

Depending on its reflectance, this skyward portion of the beacon signal may bounce off the ionosphere and back to Earth, causing reception of the ground wave to fade. Fading—which may cause reception to fade in and out—occurs when the ground and sky waves interfere with each other. This problem usually occurs in the evening when the ionosphere becomes more reflective and usually on the edge of coverage areas. Fading is not usually an issue with overlapping coverage areas of beacons and their large overall range.

Atmospheric attenuation plays a minor part in signal transmission range because it absorbs and scatters the signal. This type of loss is the least significant of those described.



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Radiobeacon Reception Various noise sources affect beacon reception and include:

• Engine noise

• Alternator noise

• Noise from power lines

• DC to AC inverting equipment

• Electric devices such as CRTs, electric motors, and solenoids

Noise generated by these types of equipment can mask the beacon signal, reducing or impairing reception.



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Radiobeacon Antenna Location When using the internal beacon receiver as the correction source, antenna location will influence the performance of the internal beacon receiver.

A good location will:

• Have a clear view of the sky (important for GNSS,WAAS, and Atlas signal reception)

• Be at least three feet away from all forms of transmitting antennas,communications, and electrical equipment, to reduce the amount of noise present at the antenna

• Be the best for the application, such as the center line of the vehicle or vessel (the position calculated by the beacon receive is measured to the center of the antenna)

• Not be in areas that exceed specified environmental conditions



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Atlas Atlas Signal Information The Atlas signal is a line-of-sight L-band signal that is similar to GNSS. For the Atlas differential receiver to acquire the signal, there must be a line of sight between the antenna and the geostationary communications satellite.

Various Atlas communications satellites are used for transmitting the correction data to Atlas users around the world. When the Atlas receiver has acquired an Atlas signal, the elevation and azimuth are available in the menu system to enable troubleshooting line-of sight problems.

Contact your Atlas service provider for further information on this service.



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Atlas Reception Atlas services broadcast at a similar frequency to GNSS and as a result is a line-of-sight system; there must be a line of sight between the antenna and the Atlas satellite for reception of the service.

Atlas services use geostationary satellites for communication. The elevation angle to these satellites is dependent upon latitude. For latitudes higher than approximately 55° North or South, the Atlas signal may be blocked more easily by obstructions such as trees, buildings, and terrain.

Topic Last Updated: v1.07/ February 16, 2017


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Atlas Automatic Tracking The Hemisphere GNSS Atlas receiver features an automatic mode that allows it to locate the best spot beam if more than one is available in a particular region. With this function you do not need to adjust the receiver’s frequency. The receiver also features a manual tune mode for flexibility.

See the JFREQ command for more information on automatic and manual tuning.



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Atlas Receiver Performance Atlas receivers provide both a lock indicator and a BER (bit error rate) to describe the lock status and reception quality. Both these features depend on a line of sight between the antenna and the geostationary communications satellite broadcasting the Atlas correction information.

Atlas capable Hemisphere GNSS antennas are designed with sufficient gain at low elevation angles to perform well at higher latitudes where the signal power is lower and the satellite appears lower on the horizon. The BER number indicates the number of unsuccessfully decoded symbols in a moving window of 2048 symbols. Because of the use of forward error correction algorithms, one symbol is composed of two bits.

The BER has a default, no-lock value of 500. As the receiver begins to successfully acquire the signal a lower BER results. For best operation this value should be less than 150 and ideally less than 20.



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Atlas Commands The following tables lists the commands accepted by the Atlas-band receiver to configure and monitor the Atlas functionality of the receiver.

Command Description

$JI Requests the serial number and firmware version number from the receiver

$JK Is used to send an authorization code to the receiver

$JK,SHOW Requests the subscription and activation information from the receiver,

$JASC,GPGGA,1 Requests receiver to output GGA positions at 1Hz.

$JASC,RD1,1 Enables Atlas Diagnostic message output

$JDIFF,LBAND,SAVE Enables Atlas mode for tracking the Atlas communication satellites

$JDIFF,INCLUDE,ATLAS Enables the Atlas solution in the receiver

$JFREQ,AUTO Automatically sets the Atlas parameters to track the Atlas communication satellites

$JATLAS,LIMIT Configure the accuracy threshold for when the NMEA 0183 GPGGA message reports a quality indicator of 4. See $JATLAS,LIMIT, section for more detail

$JSAVE Saves issued commands

Note: Use the JSAVE command to save changes you need to keep and wait for the $J>SAVE COMPLETE response.

If your Atlas communication is working properly the following should apply:

Bit Error Rate: less than 10-10

Spot Beam Freq:

AMERICAS: 1545.915

APAC: 1545.855

EMEA: 1545.905

Nav Condition: FFFFF

If this is not the case, then enter the following commands in the Receiver Command Page, one at a time:

Command

$JFREQ,AUTO

$JDIFF,LBAND,SAVE

Topic Last Updated: v3.0/ December 30, 2019


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Base Station DGPS Base Station Performance

Base station performance depends primarily on the site location for the base station GNSS antenna. An ideal location would have no obstructions above the height of the antenna, offering a full 180º by 360º view of the sky. In reality, obstructions such as trees, vehicles, people, and buildings nearby both block satellite signals and reflect interfering signals called multipath signals. Multipath degrades the accuracy of the satellite measurements and detracts from the receiver’s ability to provide accurate and reliable corrections for the rovers.

For a rover to work optimally, a base station should be near by the rover’s area of operation. As distance from the base to the rover increases, the modeling process cannot tune the solution to the exact environmental conditions at the rover’s location and the rover’s accuracy will not be as good. Best performance is attained when the distance from your base to your rover is less than 50 km (30 miles).



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DGPS Base Station

The Hemisphere receiver with an e-Dif subscription can operate in a DGPS base station mode. JRAD commands need to be sent to the receiver to enter this mode. These commands may be automatically issued through customized software or through a simple terminal interface running on a PC or handheld device. DGPS Base Station Commands provide detailed information on the commands supported by the base station application.



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DGPS Base Station Startup

When the receiver running the e-Dif application first starts up, it requires a few minutes to gather enough satellite tracking information to model the errors for the future. Once commands are sent to put the receiver into base station mode, corrections will be generated and can be sent via the serial port to rover receivers. In some more challenging GNSS environments, the time required to model errors can take up to 10 minutes. The receiver must be stationary during this process and the antenna for the base station must be secured in a stable location.



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DGPS Base Station Calibration

Base station calibration is the process of modeling the errors at the base station. Calibration can be performed in either a relative or an absolute sense, depending on positioning needs. Relative positioning provides positions that are accurate to one another but there may be some offset from the true geographical position.

Calibrating for relative positioning is easier than for absolute position since you are not restricted to using a point with known coordinates. Calibrating for absolute positioning mode requires placing the GPS antenna at a known reference location. Care should be taken to use a location that has good sky visibility and is relatively free from obstructions.



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e-Dif

e-Dif-Extended Differential Option

The Hemisphere receiver module is designed to work with Hemisphere GNSS’ patented Extended Differential (e-Dif) software. e-Dif is an optional mode where the receiver can perform with differential-like accuracy for extended periods of time without the use of a differential service. It models the effects of ionosphere, troposphere, and timing errors for extended periods by computing its own set of pseudo-corrections.

e-Dif may be used anywhere geographically and is especially useful where SBAS networks have not yet been installed, such as South America, Africa, Australia, and Asia. Two things are required to enable e-Dif. First your receiver will require standard MFA application software to be installed on it. A software key, called a subscription code, is needed for the receiver to use e-Dif. Both can be installed in the field using a PC computer. See Using RightARM to Load Firmware if you need to install the application firmware onto your receiver. To install a subscription code, contact Hemisphere GNSS for a JK command which can be issued to your receiver.

Positioning with e-Dif is jump-free compared to a receiver working with just raw GPS provided the receiver consistently maintains a lock on at least four satellites at one time. The accuracy of positioning will have a slow drift that limits use of the e-Dif for approximately 30 to 40 minutes although it depends on how tolerant the application is to drift as e-Dif can be used for longer periods.

This mode of operation should be tested to determine if it is suitable for the application and for how long the user is comfortable with its use. As accuracy will slowly drift, the point at which to recalibrate e-Dif to maintain a certain level of accuracy must be determined.

The figure below displays the static positioning error of e-Dif while it is allowed to age for fourteen consecutive cycles of 30 minutes. The top line indicates the age of the differential corrections. The receiver computes a new set of corrections using e-Dif during the calibration at the beginning of each hour and modifies these corrections according to its models. After the initialization, the age correspondingly increases from zero until the next calibration.

The position excursion from the true position (the lines centered on the zero axis are northing [dark line] and easting [light line]) with increasing correction age is smooth from position to position; however, there is a slow drift to the position. The amount of drift depends on the rate of change of the environmental errors relative to the models used inside the e-Dif software engine.

Note: You decide how long e-Dif is to function before between calibrations and you should test this operation mode to determine an acceptable level of performance.



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L-Dif

L-Dif Startup

On startup, the receiver with the L-Dif running requires several commands to initialize the proprietary messages that are sent over the air.



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L-Dif Performance

The receiver’s positioning performance in L-Dif mode is dependant upon:

• Environment of the base and rover receivers

• Distance between them and

• Accuracy of the entered coordinates of the base station

Hemisphere GNSS suggests performing your own testing at your location to determine the level of performance you would expect on average. When testing this feature, conduct tests of 12-24 hours—in different environments—and monitor performance against a known coordinate. Do this over a number of days with different states of the ionosphere.

You can monitor the energy level of the ionosphere based upon the amount of solar flare activity at http://www.spaceweather.com.

Topic Last Updated: v1.06 / March 10, 2015

https://www.spaceweather.com/


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L-Dif Local Differential Option

Local differential (L-Dif) is a specialized message type that can be sent only between two Crescent-based receivers. One receiver is used as the base station and must remain stationary. It is extremely useful to know the coordinates of the base station position but averaging the position over several days will also suffice. The second receiver is used as a rover and the messages must be sent either through a cable or over a radio link.



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RTK Overview Real Time Kinematic (RTK) positioning is the highest form of navigational accuracy for GNSS receivers. Hemisphere GNSS offers RTK for both Crescent and Eclipse platforms. See RTK commands for more information.



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Post-Processing Hemisphere receiver modules can output raw measurement data for post processing applications. The raw measurement and ephemeris data are contained in the following messages, which must be logged in a binary file:

Observations: Bin 76 (GPS), Bin 66 (GLONASS), Bin 36 (BEIDOU) Or

Bin 16 (All constellations; required for GALILEO)

Ephemeris: Bin 95 (GPS), Bin 65 (GLONASS), Bin 35 (BEIDOU), Bin 45 (GALILEO)

Time conversion: Bin 94 (GPS), Bin 34 (BEIDOU), Bin 44 (GALILEO)

(Crescent receivers must log Bin 94, 95, and 96 messages for GPS). Depending on the application, the binary data can be logged to a file and then translated to RINEX at a later time on a PC.

Contact Hemisphere GNSS technical support for a RINEX translator.

Because there is limited ability to store station information in the binary file, developers may consider writing their own translator.


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Receiver Operation Evaluating Receiver Performance Hemisphere GNSS evaluates performance of the receiver with the objective of determining best-case performance in a real-world environment. Our testing has shown that the receiver achieves a performance better than 0.6 m 95% of the time in typical DGPS modes.

The qualifier of 95% is a statistical probability. Manufacturers often use a probability of RMS, one sigma, or one standard deviation. These three terms all mean the same thing and represent approximately 67% probability. Performance measures with these probabilities are not directly comparable to a 95% measure since they are lower probability (less than 70% probability).

Table 1 summarizes the common horizontal statistical probabilities.

Table 1: Horizontal Accuracy Probability Statistics

Accuracy Measure Probability (%)

rms (root mean square) 63 to 68

CEP (circular error probability) 50

R95 (95% radius) 95 to 98

2drms (twice the distance root) 95

It is possible to convert from one statistic to another using Table 2. Using the value where the 'From' row meets the 'To' column, multiply the accuracy by this conversion value.

Table 2: Accuracy Conversions

To

From CEP rms R95 2drms

CEP 1 1.2 2.1 2.4

rms 0.83 1 1.7 2.0

R95 0.48 .59 1 1.2

2drms 0.42 .5 .83 1

For example, Product A, after testing, has an accuracy of 90 cm 95% of the time (R95). To compare this to Product B that has a sub-meter horizontal rms specification of 60 cm:

1. Select the value from where the 'R95' row and the 'rms' column intersect (to convert to rms). This conversion value is 0.59.

2. Multiply the 90 cm accuracy by this conversion factor and the result is 53 cm rms. Compared to Product B’s 60cm specification of sub-meter rms, Product A offers better performance.

To properly evaluate one receiver against another statistically, the receivers should be using identical correction input (from an external source) and share the same antenna using a power splitter (equipped with appropriate DC-blocking of the receivers and a bias-T to externally power the antenna). With this setup, the errors in the system are identical with the exception of receiver noise.

Although this is a comparison of the GNSS performance qualities of a receiver, it excludes other performance merits of a GNSS engine. The dynamic ability of a receiver should always be compared in a similar way with the test subjects sharing the same antenna. Unless a receiver is moving, its software filters are not stressed in a similar manner to the final product application. When testing dynamically, a much more accurate reference would need to be used, such as an RTK system, so that a "truth" position per epoch is available.

Receiver Operation

40

Further, there are other performance merits of a GNSS engine such as its ability to maintain a lock on GNSS and SBAS satellites. When evaluating this ability, the same GNSS antenna should be shared between the receivers test subjects. For the sake of comparing the tracking availability of one receiver to another, no accurate "truth" system is required unless performance testing is also to be analyzed. Again, an RTK system would be required; however, it is questionable how its performance will fare with environments where there are numerous obstructions such as foliage. Other methods of providing a truth reference may need to be provided through observation times on surveyed monuments or traversing well-known routes.

Should you look to compare two RTK systems, determining truth can be very complicated. A rigorous dynamic comparison of two competing RTK systems should only be attempted by individuals and organizations familiar with RTK and potentially with inertial navigation equipment. Fortunately, most manufacturer's RTK performance is specified in similar accuracy values, and in general, RTK accuracy is quite similar across different manufacturers.



41

Receiver Operation When turned on, the receiver goes through an internal startup sequence. It is, however, ready to communicate immediately. Refer to the receiver-specific manual for the power specifications of the product.

When its antenna has an unobstructed view of the sky, the receiver provides a position in approximately 60 seconds and acquires SBAS lock in approximately 30 seconds.

Topic Last Updated: v1.11/ November 15, 2018

Receiver Operation

42

Communicating with the Receiver The receiver module features three primary serial ports (A, B, C) that may be configured independently of each other. The ports can be configured to output a combination of data types:

• NMEA 0183

• Hemisphere GNSS proprietary binary and ASCII formats

• RTCM v2.x, 3.x, proprietary ROX and CMR

The usual data output is NMEA 0183 messages because these are the industry standard.



43

Configuring the Receiver You can configure all aspects of receiver operation through any serial port using NMEA 0183 commands. You can select one of the two on-board applications.

• Two applications may be loaded at the same time, but only one can be active.

• You can select the active application through serial commands or through menu options on products with displays

• Set the baud rate of communication ports

• Select NMEA 0183 data messages to output on the serial ports and select the output rate of each message

• Set the maximum differential age cut-of

• Set the satellite elevation angle cut-off mask

The appropriate commands are described in Commands and Messages.


Receiver Operation

44

Saving the Receiver Configuration Each time the configuration of the receiver is changed, the new configuration should be saved so the receiver does not have to be reconsidered for the next power cycle.

To save the settings issue the JSAVE command. The receiver records the current configuration to non-volatile memory. The receiver indicates when the save process, which takes about five seconds,is complete.


45

Commands and Messages Commands and Messages Overview The receiver supports a selection of NMEA 0183 messages, proprietary messages that conform to NMEA 0183 standards, and Hemisphere GNSS proprietary binary messages. It is your decision as a systems designer whether or not to support a NMEA 0183-only software interface or a selection of both NMEA 0183 and binary messages.

All Crescent and Eclipse receivers are configured with NMEA 0183 commands and can output NMEA 0183 messages. In addition to NMEA 0183, some receivers can be configured using NMEA 2000 commands and can output NMEA 2000 messages.

Commands

Beacon receiver commands and messages

DGPS base station commands

e-Dif commands

General Operation and Configuration Commands

GLONASS commands and messages

GNSS commands

Local differential and RTK commands and messages

SBAS commands

RAIM commands

Vector commands and messages

Messages

Binary messages

Data messages

NMEA 0183 messages

NMEA 2000 CAN messages


Commands and Messages

46

NMEA 0183 Messages

NMEA 0183 is a communications standard established by the National Marine Electronics Association (NMEA). NMEA 0183 provides data definitions for a variety of navigation instruments and related equipment such as gyrocompasses, Loran receivers, echo sounders, and GNSS receivers.

NMEA 0183 functionality is virtually standard on all GNSS equipment available. NMEA 0183 has an ASCII character format that enables the user to read the data via a receiving device with terminal software.

The following is an example of one second of NMEA 0183 data from the receiver:

$GPGGA,144049.0,5100.1325,N,11402.2729,W,1,07,1.0,1027.4,M,0,M,,010

*61

$GPVTG,308.88,T,308.88,M,0,0.04,N,0.08,K*42

$GPGSV,3,1,10,02,73,087,54,04,00,172,39,07,66,202,54,08,23,147,48,*7 9

$GPGSV,3,2,10,09,23,308,54,11,26,055,54,15,00,017,45,21,02,353,45*78

$GPGSV,3,3,10,26,29,257,51,27,10,147,45,45,,,,,,,,*74

The NMEA 0183 standard allows manufacturers to define proprietary custom commands and to combine data into proprietary custom messages. Proprietary NMEA 0813 messages are likely to be supported only by specific manufacturers.

All messages and ports can be configured independently (see example below).

Port

Baud Rate Messages

A 9600 GPGGA, one every 1 second

GPGSV, one every 5 seconds

B 19200 GPGGA, one every 2 seconds

Bin1, one every 1 second Bin2, one every 1 second

A selection of NMEA 0183 data messages can be configured at various update rates with each message having a maximum update rate. A different selection of NMEA 0183 messages with different rates can be configured on another port.

Commands and Messages Overview presents information about the NMEA 0183 interface of the receiver smart antenna. See Reference Documents for contact information if you need to purchase a copy of the NMEA 0183 standard.



47

NMEA 0183 Message Format NMEA 0183 messages (sentences) have the following format:

$XXYYY,ZZZ,ZZZ,ZZZ...*CC<CR><LF>

where:

Element Description

$ Message header character

XX NMEA 0183 talker field (GP = GPS, GL = GLONASS, GA = GALILEO, GB = BEIDOU, GN = All constellations)

YYY Type of GPS NMEA 0183 message

ZZZ Variable length message fields

*CC Checksum

<CR> Carriage return

<LF> Line feed Null (empty) fields occur when there is no information for that field. You can use the JNP command to specify the number of decimal places output in the GPGGA and GPGLL messages.

What does <CR><LF> mean?

The literal translation means "Carriage Return, Line Feed." These are terms used in computer programming languages to describe the end of a line or string of text. If you are writing your own communication software for a receiver, see some of the examples below. If you are already using a program such as Hemisphere GNSS' PocketMax, when you click to send a command to the receiver, the program adds the carriage return and line feed to the end of the text string for you. If you are using HyperTerminal or other terminal software, typically the Enter key on your keyboard is set to send the <CR><LF> pair. You may need to define this in the setup section of the terminal software. Some software may treat the Enter key on your numeric keypad differently than the main Enter key in the main QWERTY section of the keyboard – use the main Enter key for best results.

Electronics use different ways to represent the <CR><LF> characters. In ASCII numbers, <CR> is represented as 13 in decimal, or 0D in hexadecimal. ASCII for <LF> is 10 decimal, or 0A hexadecimal. Some computer languages use different ways to represent <CR><LF>. Unix and C language can use “\x0D\x0A". C language can also use “\r\n” in some instances. Java may use CR+LF. In Unicode, carriage return is U+000D, and line feed is U+000A. It is advised to clearly understand how to send these characters if you are writing your own interface software.

Topic Last Updated: v2.0/ April 30, 2019


48

General Operation and Configuration Commands The following table lists the commands related to the general operation and configuration of the receiver.

Command Description

JAIR Specify how the receiver will respond to the dynamics associated with airborne applications

JALT Turn altitude aiding for the receiver on or off

JAPP Specify or query receiver application firmware

JASC,D1 Set the RD1 diagnostic information message from the receiver to on or off

JASC,VIRTUAL Configure the receiver to have RTCM data input on one port and output through the other (when using an external correction source)

JBAUD Specify the baud rates of the receiver or query the current setting

JBOOT

JBIN Enable the output of the various binary messages supported by the receiver

JCONN Create a virtual circuit between the A and B ports to enable communication through the receiver to the device on the opposite port

JDIFF Specify or query the differential mode of the receiver

JDIFF,AVAILABLE Query the receiver for the differential types currently being received

JDIFFX,EXCLUDE Specify the differential sources to be excluded from operating in a multi-diff application

JDIFFX,GNSSOUT Specify GNSS output in correction formats or query the current setting

JDIFFX,INCLUDE Specify the differential sources to be allowed to operate in a multi-diff application

JDIFFX,SOURCE Query the receiver for the differential source

JDIFFX,TYPE Query the receiver for the differential type

JEPHOUT,PERIODSEC to allow ephemeris messages (95, 65, 35) to go out a rate other than when they change

JFLASH,DIR Display the files on a USB flash drive

JFLASH,FILE,CLOSE Close an open file on a USB flash drive

JFLASH,FILE,NAME Open a specific file, append to a specific file, or display the file name of the open file on a USB flash drive

JFLASH,FILE,OPEN Create and open a file with an automatically generated file name on a USB flash drive

JFLASH,FREESPACE Display the free space in kilobytes (KB) on a USB flash drive

JFLASH,NOTIFY,CONNECT Enable/disable the automatic response when a USB flash drive is inserted or removed (if port is not specified the response will be sent to the port that issued the command)


49

JFLASH,QUERYCONNECT Manually verify if a USB flash drive is connected or disconnected

JFORCEAPP Force an application to be used in a multi-application (MFA)

JHTYPE, SHOW Queries the hardware type

JI Display receiver information, such as its serial number and firmware version

JK Subscribe the receiver to various options, such as higher update rates, e-Dif (or base station capability) or L-Dif; or query for the current subscription expiration date when running Atlas application or the receiver subscription code when running all other applications

JK,SHOW contain authorization information

JLIMIT Set the threshold of estimated horizontal performance for which the DGPS position LED is illuminated or query the current setting

JMODE Query receiver for status of JMODE settings

JMODE,BASE Enable/disable base mode functionality or query the current setting

JMODE,FIXLOC Set the receiver to not re-average (or re-average) its position or query the current setting

JMODE,FOREST Turn the higher gain functionality (for tracking under canopy) on/off or query the current setting

JMODE,GLOFIX Enable/disable use of RTCM v3 (RTK) GLONASS correctors

JMODE,MIXED Include satellites that do not have differential corrections in the solution

JMODE,NULLNMEA Enable/disable output of NULL fields in NMEA 0183 messages when no there is no fix (when position is lost)

JMODE,SBASNORTK Disable/enable the use of SBAS ranging signals (carrier phase) in RTK

JMODE,SBASR Enable/disable SBAS ranging

JMODE,STRICTRTK Use this command to invoke stricter checks on whether RTK fix is declared. Forces float of RTK at 30 seconds of Age-of-Diff

JMODE,SURETRACK Enable/disable SureTrack functionality (default is enabled) or query the current setting

JMODE,SURVEY Assure RTK fix is not declared when residual errors exceed 10 cm. Also forces use of GLONASS and prevents SureTrack operation.

JMODE,TIMEKEEP Enable/disable continuous time updating in NMEA 0183 messages when there is no fix (when position is lost)

JMODE,TUNNEL Enable/disable faster reacquisition after coming out of a tunnel or query the current setting

JPOS Speed up the initial acquisition when changing continents with the receiver or query the receiver for the current position of the receiver


50

JPPS,FREQ Specify the pps frequency of the receiver or query the current setting

JPPS,WIDTH Specify the pps width of the receiver or query the current setting

JPRN,EXCLUDE For advanced users only.

Exclude GPS and/or other GNSS satellites from being used in the positioning solution or query the current setting

JQUERY,GUIDE Query the receiver for its determination on whether or not it is providing suitable accuracy after both the SBAS and GPS have been acquired (up to five minutes)

JQUERY,TEMPERATURE Query the receiver’s temperature

JRELAY Send user-defined text out of a serial port

JRESET Reset the receiver to its default operating parameters by turning off outputs on all ports, saving the configuration, and setting the configuration to its defaults

JSAVE Send this command after making changes to the operating mode of the receiver

JSHOW Query the current operating configuration of the receiver

JSHOW,ASC Query receiver for current ASCII messages being output

JSHOW,BIN Query receiver for current Bin messages being output

JSHOW,CONF Query receiver for configuration settings

JSHOW,GP Query the receiver for each GP message currently being output through the current port and the update rate for that message

JSHOW,THISPORT Query to determine which receiver port you are connected to

JSIGNAL, EXCLUDE Query the receiver for the signals for which you are disabling tracking

JSIGNAL,INCLUDE Query the receiver for the signals for which you are enabling tracking

JSYSVER Returns the boot loader version from the GPS card

Note: Use the JSAVE command to save changes you need to keep and wait for the $>SAVE COMPLETE response.


51

GNSS Commands The following table lists the commands supported by the internal GNSS engine for its configuration and operation.

Command Description

JAGE Specify maximum DGPS (COAST) correction age (6 to 8100 seconds)

JASC,GN Enable the GPS data messages at a particular update rate to be turned on or off

JMASK Specify the elevation cutoff mask angle for the GPS engine

JNMEA,PRECISION Specify or query the number of decimal places to output in the GPGGA and the GPGLL messages or query the current setting

JNP Specify the number of decimal places output in the GPGGA and GPGLL messages

JOFF Turn off all data messages being output through the current port or other port

JOFF,ALL Turn off all data messages being output through all ports

JSMOOTH Set the carrier smoothing interval (15 to 6000 seconds) or query the current setting

JTAU,COG Set the course over ground (COG) time constant (0.00 to 3600.00 seconds) or query the current setting

JTAU,SPEED Set the speed time constant (0.00 to 3600.00 seconds) or query the current setting


The following table lists the messages applicable to GNSS

Message Description

Bin16 GNSS code and phase observation information

Bin19 GNSS Tracking Information



52

SBAS Commands The following table lists the commands supported by the SBAS demodulator for its control and operation.

Command Description

JASC,D1 Set the RD1 diagnostic information message from the receiver to on or off

JASC,RTCM Configure the receiver to output RTCM version 2 DGPS corrections from SBAS or beacon through either receiver serial port

JGEO Display information related to the current frequency of SBAS and its location in relation to the receiver’s antenna

JWAASPRN Change the SBAS PRNs in memory or query the receiver for current PRNs in memory




53

e-Dif Commands The following table lists the commands supported by the e-Dif application for its control and operation.

Command Description

JRAD,1 Display the current reference position in e-Dif applications only

JRAD,1,LAT,LON,HEIGHT Use this command—a derivative of the JRAD,1,P command—when absolute positioning is required in e-Dif applications only

JRAD,1,P e-Dif: Record the current position as the reference with which to compute e-Dif corrections. This would be used in relative mode as no absolute point information is specified. DGPS Base Station: Record the current position as the reference with which to compute Base Station corrections in e-Dif applications only. This would be used in relative mode as no absolute point information is specified

JRAD,2 Forces the receiver to use the new reference point (you normally use this command following a JRAD,1 type command)

JRAD,3 Invoke the e-Dif function once the unit has started up with the e-Dif application active, or, update the e-Dif solution (calibration) using the current position as opposed to the reference position used by the JRAD,2 command

JRAD,7 Turn auto recalibration on or off


Topic Last Updated: v1.02 / January 25, 2011


54

Vector Commands and Messages The following table lists the commands related to the GPS heading aspect of the Vector OEM heading system.

Command Description

JASC Turn on different messages

JASC,INTLT Configure the receiver to output pitch and roll data (pitch and roll are factory calibrated over temperature to be accurate to ±3°)

JASC,PASHR Configure the receiver to output time, true heading, roll, and pitch data in one message

JASC,PTSS1 Configure the receiver to output heave, pitch, and roll in the commonly used TSS1 message format

$JATT,ACC90 Refer to the User Guide for your product

$JATT, ACC180 Refer to the User Guide for your product

JATT,COGTAU Set the course over ground (COG) time constant (0.0 to 3600.0 seconds) or query the current setting

JATT,CSEP Query for the current separation between GPS antennas

JATT,EXACT Enable/disable internal filter reliance on the entered antenna separation or query the current setting

JATT,FLIPBRD Turn the flip feature on/off (allowing you to install the Crescent Vector board upside down) or query the current feature status

JATT,GYROAID Turn gyro aiding on or off or query the current setting

JATT,HBIAS Set the heading bias or query the current setting

JATT,HELP Show the available commands for GPS heading operation and status

JATT,HIGHMP Set/query the high multipath setting for use in poor GPS environments

JATT,HRTAU Set the heading rate time constant or query the current setting

JATT,HTAU Set the heading time constant or query the current setting

JATT,LEVEL Turn level operation on or off or query the current setting

JATT,MOVEBASE Set the auto GPS antenna separation or query the current setting

JATT,MSEP Manually set the GPS antenna separation or query the current setting

JATT,NEGTILT Turn the negative tilt feature on or off or query the current setting

JATT,NMEAHE Instruct the Crescent Vector to preface the HDG, HDM, HDT, and ROT messages with GP or HE

JATT,PBIAS Set the pitch/roll bias or query the current setting

JATT,PTAU Set the pitch time constant or query the current setting

JATT,ROLL Configure the Crescent Vector for roll or pitch GPS antenna orientation

JATT,SEARCH Force the Crescent Vector to reject the current GPS heading solution and begin a new search

JATT,SPDTAU Set the speed time constant (0.0 to 3600.0 seconds) or query the current setting

JATT,SUMMARY Display a summary of the current Crescent Vector settings

JATT,TILTAID Turn tilt aiding on or off or query the current setting

JATT,TILTCAL Calibrate tilt aiding or query the current feature status

The following table lists Vector messages.


55

Message Description

GNGSA GNSS DOP and active satellites

GPDTM Datum reference

GPGGA GPS fix data

GPGLL Geographic position - latitude/longitude

GPGNS GNSS fix data

GPGRS GNSS range residuals

GPGST GNSS pseudorange error statistics

GPGSV GPS satellites in view

GLGSV GLONASS satellites in view

GAGSV Galileo satellites in view

GBGSV BeiDou satellites in view

GPHDG/HEHDG Provide magnetic deviation and variation for calculating magnetic or true heading

GPHDM/HEHDM Provide magnetic heading of the vessel derived from the true heading calculated

GPROT/HEROT Contains the vessel’s rate of turn (ROT) information

GPRRE Range residual message

GPVTG Course over ground and ground speed

GPZDA Time and date

PASHR Time, true heading, roll, and pitch data in one message

PSAT,GBS Satellite fault detection used for RAIM

PSAT,HPR Proprietary NMEA sentence that provides the true heading, pitch/roll information and time in a single message

PSAT,INTLT Proprietary NMEA sentence that provides the title measurement from the internal inclinometer (in degrees)

TSS1 Heave, pitch, and roll message in the commonly used TSS1 message format



56

GLONASS Commands and Messages The following table lists the commands applicable to GLONASS-capable receivers.

Command Description

JASC,GL Enable the GLONASS data messages at a particular update rate to be turned on or off. When turning messages on, various update rates are available depending on the requirements.

JNMEA,GGAALLGNSS Configure the GGA string to include full GNSS information (the number of used GLONASS satellites will be included in the GPGGA message) or query the current setting

The following table lists the messages applicable to GLONASS-capable receivers.

Message Description


Bin62 GLONASS almanac information

Bin65 GLONASS ephemeris information

Bin66 GLONASS L1 code and carrier phase information

Bin69 GLONASS L1 diagnostic information

GLMLA GLONASS almanac data - contains complete almanac data for one GLONASS satellite (multiple sentences may be transmitted, one for each satellite in the GLONASS constellation)



57

GALILEO Commands and Messages The following table lists the commands applicable to GALILEO-capable receivers.

Command Description

JASC,GAGSV Enable/disable the data for GALILEO satellites in view. When turning messages on, various update rates are available depending on the requirements.

JASC,GNGNS Enable/disable fix data for GNSS systems including GALILEO (GAGNS). When turning messages on, various update rates are available depending on the requirements.

JNMEA,GGAALLGNSS Configure the GGA string to include full GNSS information (the number of used satellites will be included in the GPGGA message) or query the current setting

The following table lists the messages applicable to GALILEO-capable receivers.

Message Description

Bin45 GALILEO ephemeris information

Bin16 GALILEO GNSS code and phase observation information

Bin44 GALILEO time conversion information

*Note: For observations in tracking status, see GNSS, Bin 16 & Bin 19.



58

QZSS Commands and Messages The following table lists the commands applicable to QZSS-capable receivers.

Command Description

JASC,GQGSV Enable/disable the data for QZSS satellites in view.

JASC,GNGNS Enable/disable fix data for GNSS systems.

JASC,GNGSA DOP and active satellite information

The following table lists the binary messages applicable to QZSS-capable receivers.

Message Description


Bin19 GNSS diagnostic information



59

DGPS Base Station Commands The following table lists the commands supported by the base station feature for its control and operation.

Command Description



JRAD,1,P e-Dif: Record the current position as the reference with which to compute e-Dif corrections. This would be used in relative mode as no absolute point information is specified. DGPS Base Station: Record the current position as the reference with which to compute Base Station corrections in e-Dif applications only. This would be used in relative mode as no absolute point information is specified.

JRAD,9 Initialize the Base Station feature and use the previously entered point, either with $JRAD,1,P or $JRAD,1,LAT,LON,HEIGHT, as the reference with which to compute Base Station corrections in e-Dif applications only. Use this for both relative mode and absolute mode.

JRAD,10 If $JRAD,10,1 is entered, the diff output will be RTCM2.4



60

Local Differential and RTK Commands and Messages The following table lists the commands supported by Local Differential (L-Dif) and RTK feature for its control and operation.

Command Description

JASC,CMR Set the proprietary CMR messages to on or off to provide corrections to the rover (only applies to an Eclipse base station receiver when using GPS dual frequency RTK mode)

JASC,DFX Set the proprietary DFX messages to on or off to provide corrections to the rover (only applies to a Crescent base receiver when using L-Dif or RTK mode)

JASC,ROX Set the proprietary ROX messages to on or off to provide corrections to the rover (only applies to an Eclipse base station receiver when using GPS dual frequency RTK mode)

JASC,RTCM3 Set the RTCM version 3 messages to on or off to provide corrections to the rover (only applies to an Eclipse base station receiver when using GPS dual frequency RTK mode)

JASC,PSAT,BLV,1 Configure the receiver to output the North,East,Up base-line vector

JASC,PSAT,FVI,1 Configure the receiver to output a message include most position and attitude information

JASC,PSAT,RTKPROG Configure the receiver to output RTK fix progress

JASC,PSAT,RTKSTAT Configure the receiver to output the most relevant parameters affecting RTK

JASC,PSAT,VCT,1 Configure the receiver to output the heading, pitch, roll, and master to slave vector

JMODE,BASE Enable/disable base mode functionality or query the current setting

JNMEA,PRECISION Specify or query the number of decimal places to output in the GPGGA andthe GPGLL messages or query the current setting

JNP Specify the number of decimal places output in the GPGGA and GPGLLmessages

JQUERY,RTKPROG Perform a one-time query of RTK fix progress information

JQUERY,RTKSTAT Perform a one-time query of the most relevant parameters that affect RTK

JRTK,1 Show the receiver’s reference position (can issue command to base station or rover)

JRTK,1,LAT,LON,HEIGHT Set the receiver’s reference position to the coordinates you enter (can issue command to base station or rover)

JRTK,1,P Set the receiver’s reference coordinates to the current calculated position if you do not have known coordinates for your antenna location (can issue command to base station or rover)

JRTK,5 Show the base station’s transmission status for RTK applications (can issue command to base station)

JRTK,5,Transmit Suspend or resume the transmission of RTK (can issue command to base station)

JRTK,6 Display the progress of the base station (can issue command to base station)

JRTK,12 Disable or enable the receiver to go into fixed integer mode (RTK) vs. float mode (L- Dif) - can issue command to rover

JRTK,17 Display the transmitted latitude, longitude, and height of the base station (can issue command to base station or rover)

JRTK,18 Display the distance from the rover to the base station, in meters (can issue command to rover)

JRTK,18,BEARING Display the bearing from the base station to the rover, in degrees (can issue command to rover)

JRTK,18,NEU Display the distance from the rover to the base station and the delta North, East, and Up, in meters (can issue command to rover)


61

JRTK,28 Set the base station ID transmitted in ROX/DFX/CMR/RTCM3 messages (can issue command to base station)

JRTCM3, ANTNAME Specify the antenna name that is transmitted in various RTCM3 messages from the base

JRTCM3, EXCLUDE Specify RTCM3 message types to not be transmitted (excluded) by base station

JRTCM3, INCLUDE Specify RTCM3 message types to be transmitted by base station

JRTCM3, NULLANT Specify the antenna name as null (no name) that is transmitted in various RTCM3 messages from the base

The following table lists the Local Differential (L-Dif) and RTK messages.

Message Description

PSAT,RTKPROG Contains RTK fix progress information

PSAT,RTKSTAT Contains the most relevant parameters affecting RTK

Topic Last Updated: v1.07 / October 13, 2016


62

Beacon Receiver Commands and Messages If integrating a Hemisphere GNSS SBX beacon module with the receiver GNSS engine, Hemisphere GNSS recommends interfacing the beacon receiver to Port D of the receiver engine. Hemisphere GNSS has implemented some command and message pass-through intelligence for such an integration. In this configuration you can issue the commands in the following table to the beacon receiver through either Port A, Port B, or Port C of the receiver. When you issue queries to the SBX primary communications port, the response messages are output interspersed with RTCM correction information. This may cause conflicts with a GNSS receiver’s ability to compute differential corrected solutions. By sending these queries to the SBX secondary communications port the flow of RTCM corrections on the primary port will not be interrupted.

The following table lists the beacon commands/messages found in this Help file.

Query NMEA 0183 Query Type Description

GPCRQ,MSK Standard Query the SBX for its operational status

GPCRQ,MSS Standard Query the SBX for its performance status

GPMSK Standard Tune beacon the receiver and turn on diagnostic information

PCSI,0 Hemisphere GNSS proprietary

Query the SBX to output a list of available proprietary PCSI commands


Query the SBX for a selection of parameters related to the operational status of its primary channel

PCSI,1,1 Hemisphere GNSS proprietary

Obtain beacon status information from the SBX beacon engine inside the receiver


Query the SBX to output a selection of parameters related to the operational status of its secondary channel


Query the SBX to output the search information used for beacon selection in Automatic Beacon Search mode. The output has three frequencies per line.


Display the ten closest beacon stations


Display the contents of the beacon station database


Clear search history in Auto mode


Set the baud rate of Port0 and Port1


Reboot SBX receiver


Swap modes on the receiver

The following table lists the beacon messages found in this Help file.

Message Description

CRMSK Operational status message of SBX

CRMSS Performance status message of SBX



63

RAIM Commands RAIM (Receiver Autonomous Integrity Monitoring) is a GNSS integrity monitoring scheme that uses redundant ranging signals to detect a satellite malfunction resulting in a large range error. The Hemisphere GNSS products use RAIM to alert users when errors have exceeded a user-specified tolerance. RAIM is available for SBAS, and Beacon applications.

The following table lists the available RAIM commands.

Command Description

JRAIM Specify the parameters of the RAIM scheme that affect the output of the PSAT,GBS message or query the current setting



64

Data Messages Note: Output rates greater than 1Hz may require a subscription. Output rates greater than 20 Hz are not available for all products. Please refer to your product’s documentation for the supported output rates.

For messages supporting rates greater than 1 Hz, see the following table:

Firmware Version

Support Output Rates

50 Hz 50, 25, 10, 5, 2, 1, .2, 0

20 Hz 20, 10, 5, 4, 2, 1, .2, .5, 0

For message descriptions and maximum rates see the following table:

Message Maximum Rate

Description

GNGSA 1 Hz GPS DOP and active satellite information

GPALM 1 Hz GPS almanac data

GPGGA 50 Hz Detailed GPS position information

GPGLL 50 Hz Latitude and longitude data

GPGNS 50 Hz Fixes data for single or combined satellite navigation systems

GPGRS 50 Hz Supports Receiver Autonomous Integrity Monitoring (RAIM)

GPGST 1 Hz GNSS pseudorange error statistics

GPGSV 20 Hz GPS satellites in view

GLGSV 20 Hz GLONASS satelllites in view

GAGSV 20 Hz Galileo sattelites in view

GBGSV 20 Hz BeiDou satellites in view

GPHDG/HEHDG 50 Hz Magnetic deviation and variation for calculating magnetic or true heading

GPHDM/HEHDM 50 Hz Magnetic heading of the vessel derived from the true heading calculated

GPHDT/HEHDT 50 Hz True heading of the vessel

GPHEV 50 Hz Heave value in meters

GPRMC 50 Hz Recommended minimum specific GNSS data

GPROT/HEROT 50 Hz Vessel’s rate of turn (ROT) information

GPRRE 1 Hz Range residual message

GPVTG 50 Hz Course over ground and ground speed

GPZDA 50 Hz UTC time and date information


65

PASHR 1 Hz Time, true heading, roll, and pitch data in one message

PSAT,ATTSTAT 1HZ

PSAT,GBS 1 Hz Used to support Receiver Autonomous Integrity Monitoring (RAIM)

PSAT,HPR 50 Hz Proprietary NMEA message that provides the true heading, pitch, roll, and time in a single message

PSAT,INTLT 1 Hz Proprietary NMEA message that provides the tilt measurements from the internal inclinometers (in degrees)

PSAT,RTKPROG 1 Hz Contains RTK fix progress information

PSAT,RTKSTAT 1 Hz Contains the most relevant parameters affecting RTK

RD1 1 Hz SBAS diagnostic information

TSS1 50 Hz Heave, pitch, and roll message in the commonly used TSS1 message format

Topic Last Updated: v1.11/ November 15, 2018


66

Binary Messages Message Structure The binary messages supported by the receiver are in an Intel Little Endian format for direct read in a PC environment. More information on this format at the following web site: http://www.cs.umass.edu/~verts/cs32/endian.html

Each binary message begins with an 8-byte header and ends with a carriage return, line feed pair (0x0D, 0x0A). The first four characters of the header is the ASCII sequence $BIN.

The following table provides the general binary message structure.

Component Description Type Bytes Values

Header Synchronization String 4 byte string

4 $BIN

Block ID - type of binary message

Unsigned short

2 1, 2, 80, 93, 94, 95, 96, 97,

98, or 99 DataLength - the length of the binary messages

Unsigned short

2 52, 16, 40, 56, 96, 128, 300,

28, 68, or 304

Data Binary Data - varying fields of data with a total length of DataLength bytes

Mixed fields

52, 16, 40, 56,

96, 128,

300, 28,

68, or 304

Varies - see message tables

Epilogue Checksum - sum of all bytes of the data (all DataLength bytes); the sum is placed in a 2-byte integer

Unsigned short

2 Sum of data bytes

CR- Carriage return Byte 1 0D hex

LF - Line feed Byte 1 0A hex

http://www.cs.umass.edu/%7Everts/cs32/endian.html


67

NMEA 2000 CAN Messages Refer to the NMEA Specification Appendix A & B. The following NMEA 2000 CAN messages are supported by HGNSS:

PGN Description Default Rate

126992 System Time 1 Hz

129025 Position Rapid update 10 Hz

129026 COG & SOG, Rapid update 4 Hz

129027 Position Delta, High Precision Rapid update 10 Hz

129028 Altitude Delta, High Precision Rapid update 10 Hz

129029 GNSS Position Data 1 Hz

129033 Local Time Offset 1 Hz

129539 GNSS DOPs 1 Hz

129540 GNSS Sats in View 1 Hz

129542 GNSS Pseudorange Noise Statistics 1 Hz

129545 GNSS RAIM Output Off

127250 Vessel Heading 10 Hz*

127251 Rate of Turn 10 Hz*

127258 Magnetic Variation 1 Hz*

127257 Attitude, Yaw, Pitch, Roll 1 Hz*

* These messages may be off when heading is not supported.

For a list of Hemisphere GNSS Proprietary Commands, refer to the NMEA 2000 Reference Manual on the HGNSS website. Note: Not all products support the messages listed above.

Topic Last Updated: v1.10 / June 1, 2018


68

Beacon Receiver Commands CRMSK Message Message Type:

Beacon Receiver

Description:

Operational status message of SBX

Command Format to Request Message:

$GPCRQ,MSK<CR><LF>

Command Format:

$CRMSK,FFF.F,X,DDD,Y,N*CC<CR><LF>

where:

Message Component

Description

FFF.F Frequency, in kHz (283.5 to 325)

X Tune mode (M = manual, A = automatic)

DDD MSK bit rate, in bps (100 or 200)

Y MSK rate selection mode (M = manual, A = automatic)

N Period of output of performance status message, in seconds (0 to 100); see CRMSS

*CC Checksum


<LF> Line feed

Receiver Response:

Additional Information:

Related Commands

GPCRQ,MSK

Topic Last Updated: v. 1.00 / August 11, 2010


69

CRMSS Message

Message Type:

Beacon Receiver Description:

Performance status message of SBX


$GPCRQ,MSS<CR><LF>

Message Format:

$CRMSS,XX,YY,FFF.F,DDD*CC<CR><LF>

where:

Message Component

Description

XX Signal strength, in dB μV/m

YY Signal-to-noise ratio, in dB

FFF.F Frequency, in kHz (283.5 to 325)

DDD MSK bit rate in bps (100 or 200)

*CC Checksum


<LF> Line feed


Related Commands:

GPCRQ,MSS

Topic Last Updated: v.1.00 / August 11, 2020


70

GPCRQ,MSS Command Command Type:

Beacon Receiver

Description:

Standard query to prompt the SBX for its performance status (response is the CRMSS message)

You can issue this command through the secondary serial port with a standard response issued to the same port. This will not affect the output of RTCM data from the main serial port when the receiver has acquired a lock on a beacon station.

Command Format:

$GPCRQ,MSS<CR><LF>

Receiver Response:

$CRMSS,xx,yy,fff.f,ddd*CC<CR><LF>

where:

Response Component

Description

xx Signal strength in dBμV/m

yy Signal-to-noise ratio (SNR) in dB

fff.f Frequency in kHz (283.5 to 325)

ddd MSK bit rate in bps (100 or 200)

Response example:

$CRMSS,65,36,322.0,100*CC

The signal strength is 65 dBμV/m, SNR is 36 dB, frequency is 322.0 kHz, and MSK bit rate is 100 bps.




71

GPMSK Command Command Type: Beacon Receiver Description:

Beacon Tune command

Instruct the SBX to tune to a specified frequency and automatically select the correct MSK rate. When you send this command through Port A, Port B, or Port C, it is automatically routed to Port D. The resulting confirmation of this message is returned to the same port from which you sent the command.

Command Format:

$GPMSK,fff.f,F,mmm,M[,n]<CR><LF>

where:

Command/Response Component

Description

fff.f Beacon frequency in kHz (283.5 to 325)

This may be left blank if the following field 'F' is set to 'A' (automatic) or 'D' (database)

F Frequency selection mode

(M = manual, A = automatic, D = database)

mmm MSK bit rate

This may be left blank if the following field 'M' is set to 'A' (automatic) or 'D' (database)

M MSK rate selection mode

(M = manual, A = automatic, D = database)

n Period of output of CRMSS performance status message (0 to 100 seconds), where leaving the field blank will output the message once

Note: This field is optional when using database tuning mode or automatic tuning mode.

Receiver Response:

$CRMSS,xx,yy,fff.f,ddd*CC<CR><LF>

where:

Response Component

Description

xx Signal strength in dBμV/m


72

yy Signal-to-noise ratio (SNR) in dB

fff.f Frequency in kHz (283.5 to 325)

ddd MSK bit rate in bps (100 or 200)

Example:

To instruct the SBX to tune to 310.5 kHz with a bit rate of 100 and output the CRMSS message every 20 seconds issue the following command:

$GPMSK,310.5,M,100,M,20<CR><LF>

...and the receiver response is:

$CRMSS,65,36,310.5,100*CC

(repeating every n=20 seconds)

If using database tuning mode issue the following command:

$GPMSK,,D,,D<CR><LF>

If using automatic tuning mode issue the following command:

$GPMSK,,A,,A<CR><LF>


When the SBX acknowledges this message, it immediately tunes to the specified frequency and demodulates at the specified rate.

When you set 'n' to a non-zero value, the SBX outputs the CRMSS message at that period through the serial port from which the SBX was tuned. When you issue this command with a non-zero'n' value through Port B, the periodic output of the CRMSS performance status message does not impact the output of RTCM on Port A. However, when tuning the SBX with a non-zero 'n' value through Port A, the CRMSS message is interspersed with the RTCM data. Most GPS engines will not be able to filter the CRMSS message,causing the overall data to fail parity checking. When power to the SBX is removed and reapplied, the status output interval resets to zero (no output).

When tuning the SBX engine, if the 'n' field in this message is non-zero, the CRMSS message output by the SBX may interrupt the flow of RTCM data to the GPS receiver. Repower the SBX to stop the output of the CRMSS message or retune the Beacon receiver with 'n' set to zero.



73

GPS Commands JAGE Command Command Type:

GPS

Description:

Specify maximum DGPS (COAST) correction age (6 to 8100 seconds). Using COAST technology, the receiver can use old correction data for extended periods of time. If using aRTK, the parameter must be set to higher than 601 seconds.

The default setting for the receiver is 2700 seconds.

If you select a maximum correction age older than 1800 seconds (30 minutes) test the receiver to ensure the new setting meets the requirements, as accuracy will slowly drift with increasing time.

Command Format:

$JAGE,age<CR><LF>

where 'age' is the maximum differential age time out

Receiver Response:

$>

Example:

To set the DGPS correction age to 60 seconds issue the following command:

$JAGE,60<CR><LF>


To query the receiver for the current DGPS correction age, issue the JSHOW command.




74

General Operation and Configuration JAIR Command Command Type:

General Operation and Configuration

Description:

Specify how the receiver will respond to the dynamics associated with airborne applications or query the current setting

Command Format:

Specify how the receiver responds:

$JAIR,r<CR><LF>

where 'r' is the AIR mode:

NORM - normal track and nav filter bandwidth

HIGH - highest track and nav filter bandwidth (receiver is optimized for the high dynamic environment associated with airborne platforms)

LOW - lowest track and nav filter bandwidth

AUTO - default track and nav filter bandwidth, similar to NORM but automatically goes to HIGH above 30m/sec

Query the current setting:

$JAIR<CR><LF>

Receiver Response:

Receiver response when specifying how the receiver responds or querying the current setting:

$>JAIR,MAN,NORM

$>JAIR,MAN,HIGH

$>JAIR,MAN,LOW

$>JAIR,AUTO,NORM

Example:

To set the AIR mode to LOW issue the following command:

$JAIR,LOW<CR><LF>

The response is then:

$>JAIR,MAN,LOW<CR><LF>


Defaults to normal (NORM) which is recommended for most applications. The AUTO option enables the receiver to decide when to turn JAIR to HIGH.

CAUTION: Setting AIR mode to HIGH is not recommended for Crescent Vector operation.


75

On the HIGH setting, the receiver tolerates larger and sudden drops in the SNR value before it discards the data as being invalid. This additional tolerance is beneficial in applications such as crop dusting where an aircraft is banking rapidly. As the aircraft banks, the antenna position shifts from upright and having a clear view of the sky to being tipped slightly, with a possibly obscured view of the sky, and then back to upright. This sudden tipping of the antenna causes the SNR value to drop.

If the tolerance is not set as HIGH, the receiver views the data recorded while banking as invalid and discards it. As a result the GPS position will not be accurate.

The status of this command is also output in the JSHOW message.



76

JALT Command Command Type:


Description:

Turn altitude aiding for the receiver on or off

When set to something other than NEVER, altitude aiding uses a fixed altitude instead of using one satellite’s observations to calculate the altitude. The advantage of this feature, when operating in an application where a fixed altitude is acceptable, is that the extra satellite’s observations can be used to the betterment of the latitude, longitude, and time offset calculations, resulting in improved accuracy and integrity. Marine markets, for example, may be well suited for use of this feature.

Command Format:

$JALT,c[,h[,GEOID]]<CR><LF>

where 'c' (feature status variable) and 'h' (threshold variable) may be one of the following:

c Value Correspondi ng h Value

Description Format

NEVER N/A Default mode of operation where altitude aiding is not used.

$JALT,NEVER<CR><LF>

SOMETIMES PDOP Sets the receiver to use altitude aiding depending upon the PDOP threshold.

$JALT,SOMETIMES,PDOP<CR><LF>

SATS NUMSATS Sets the receiver to use altitude aiding depending upon the number of visible satellites. If there are fewer visible satellites than specified by NUMSATS, altitude aiding is used.

$JALT,SATS,NUMSATS<CR><LF>

ALWAYS HEIGHT Sets the receiver to use altitude aiding regardless

$JALT,ALWAYS,HEIGHT<CR><LF>

$JALT,ALWAYS,HEIGHT,GEOID<CR><LF>


77

To obtain a HEIGHT value to use with ALWAYS (using DGPS positions), average the HEIGHT over a period of time (the longer the time period, the more accurate this HEIGHT value). This is the ellipsoidal height.

$JALT,ALWAYS,HEIGHT<CR><LF>

If you use the height reported from the GPGGA message (this is actually geoidal and not ellipsoidal), use the following command:

$JALT,ALWAYS,HEIGHT,GEOID<CR><LF>

Receiver Response:

$>

Example:

To turn altitude aiding on to SOMETIMES with a PDOP of 5 issue the following command:

$JALT,SOMETIMES,5<CR><LF> 7

To turn altitude aiding on to ALWAYS using the height of 401.6 m as reported in the GPGGA message (geoidal height) issue the following command:

$JALT,ALWAYS,401.6,GEOID<CR><LF>


To query the receiver for the current setting, issue the JSHOW command. For example, if you issue the following command:

$JALT,ALWAYS,404.2<CR><LF>

...then issuing the JSHOW command displays the following as part of its output:

$>JSHOW,ALT,ALWAYS,404.2



78

JAPP Command Command Type:


Description:

Specify which of the installed applications should be utilized or query the receiver for the currently installed applications. All modern versions of Hemisphere receivers have MFA firmware. However, you can use this command if you have 2 different versions of firmware installed. For example, if you update the firmware on application 1 and your receiver still shows you have the previous version of firmware installed, check to see if you are in application 2, or vice versa.

Specify receiver application firmware (when two applications are present)

Command Format:

$JAPP,OTHER<CR><LF> or $JAPP,O<CR><LF>

(the second command uses the letter O, not a zero) or

$JAPP,x<CR><LF>

where ‘x’ is either 1 (application in slot 1) or 2 (application in slot 2)

Query receiver application firmware:

$JAPP<CR><LF>

Receiver Response:

For example, if WAAS (SBAS) and AUTODIFF (e-Dif) are the two installed applications (WAAS in slot1 and AUTODIFF in slot2) and WAAS is the current application, if you issue the $JAPP,OTHER<CR><LF>command on a receiver, the response to $JAPP<CR><LF> will be$>JAPP,AUTODIFF,WAAS,2,1, indicating that application slot 2 (e- Dif) is currently being used.

Hemisphere GNSS recommends that you follow up the sending of these commands with a $JAPP query to see which application is 1 or 2. It is best to use these two commands when upgrading the firmware inside the receiver, because the firmware upgrading utility uses the application number to designate which application to overwrite.

Response to querying the current setting:

$>JAPP,CURRENT,OTHER,[1 OR 2],[2 OR 1]

where:

• 'CURRENT' indicates the current application in use

• 'OTHER' indicates the secondary application that is not currently in use

• 1 and 2 indicate in which application slots the applications reside

Example:

If the response to:

$JAPP<CR><LF> is $>JAPP,WAAS,AUTODIFF,1,2,

this indicates:

•��WAAS (SBAS) is the current application and is in application slot 1

• e-Dif is the other application (not currently used)and is in application slot 2



79

When querying the current setting, the following application names may appear (depending on your product):

• Crescent

• WAAS – Changes to the SBAS application. For the sake of the application names, the SBAS application is referred to as WAAS by the receiver’s internal firmware

• AUTODIFF – Changes to the e-Dif application. Referred to as "AUTODIFF" in the receiver’s internal firmware

• LOCRTK – Changes to the local differential rover application

• RTKBAS – Changes to the local differential base application

• LBAND – Changes to Atlas DGPS service

• Eclipse

• WAASRTKB – Changes to the SBAS/RTK Base application

• LBAND – Changes to Atlas DGPS service

• RTK – Changes to the RTK Rover application

• Eclipse II

• SBASRTKB – Changes to the SBAS/L-band/RTK Base application

• AUTODIFF – Changes to the e-Dif application, referred to as "AUTODIFF" in the firmware


• MFA - Multi-function application

• miniEclipse

• WAASRTKB – Changes to the SBAS/RTK Base application

• AUTODIFF – Changes to the e-Dif application, referred to as "AUTODIFF" in the firmware


• MFA - Multi-function application



80

JASC Commands

JASC Command

The JASC command is used to request ASCII messages.

Command Description

JASC,CMR Set the proprietary CMR messages to on or off to provide corrections to the rover

JASC,D1 (RD1) Set the RD1 diagnostic information message from the receiver to on or off

JASC,DFX Set the proprietary DFX messages to on or off to provide corrections to the rover

JASC,GL Enable the GLONASS data messages at a particular update rate to be turned on or off. When turning messages on, various update rates are available depending on the requirements.

JASC,GN Enable the GNSS data messages at a particular update rate to be turned on or off. When turning messages on, various update rates are available depending on the requirements.

JASC,GP Enable the GPS data messages at a particular update rate to be turned on or off

JASC,HPR Configure the receiver to output UTC time, heading, pitch, and roll. Pitch and roll will come from the antenna array, one from internal sensor, for more information refer to JATT, ROLL

JASC,INTLT Configure the receiver to output pitch and roll data

JASC,PASHR Configure the receiver to output time, true heading, roll, and pitch data in one message

JASC,PSAT,ATTSTAT Configure the receiver to output the information of secondary antenna

JASC,PSAT,BLV,1 Configure the receiver to output the North,East,Up base-line vector

JASC,PSAT,FVI,1 Configure the receiver to output a message include most position and attitude information

JASC,PSAT,RTKPROG Configure the receiver to output RTK fix progress

JASC,PSAT,RTKSTAT Configure the receiver to output the most relevant parameters affecting RTK

JASC,PSAT,VCT,1 Configure the receiver to output the heading, pitch, roll, and master to slave vector

JASC,PTSS1 Configure the receiver to output heave, pitch, and roll in the commonly used TSS1 message format

JASC,ROX Set the proprietary ROX messages to on or off to provide corrections to the rover

JASC,RTCM Configure the receiver to output RTCM version 2 DGPS corrections from SBAS or beacon through either receiver serial port

JASC,RTCM3 Set the RTCM version 3 messages to on or off to provide corrections to the rover

JASC,VIRTUAL Configure the receiver to have RTCM data input on one port and output through the other (when using an external correction source)



81

JASC,CMR Command

Command Type:

Local Differential and RTK

Description:

Set the proprietary CMR messages to on or off to provide corrections to the rover.

This command only applies to an Eclipse base station receiver when using GPS dual frequency RTK mode. RTK is relative to the reference position (base only).

Command Format:

where:

$JASC,CMR,r[,OTHER]<CR><LF>

• 'r' = correction status variable (0 = turn corrections Off, 1 = turn corrections On)

· ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets)and enacts a change on the other port when you send the command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.

Receiver Response:

$>

Example: To turn on CMR messages on the OTHER port issue the following command:

$JASC,CMR,1,OTHER<CR><LF>


To query the receiver for the current setting, issue the JSHOW command. To change the broadcast station ID, use JRTK,28.



82

JASC,D1 Command

Command Type:

General Operation and Configuration, SBAS

Description:

Set the RD1 diagnostic information message from the receiver to on or off There is currently only an (R)D1 message. This contains diagnostic information for L-band.

Command Format:

where:

$JASC,D1,r[,OTHER]<CR><LF>

• 'r' = message rate (0 = Off, 1 = On at 1Hz)

',OTHER' = optional field, enacts a change in the RD1 message on the current port when you send the command without it (and without the brackets)and enacts a change in the RD1 message on the other port when you send the command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.

Receiver Response:

$>

Example:

To output the RD1 message once per second from THIS port issue the following command:

$JASC,D1,1<CR><LF>

...and the output will look similar to the following:

$RD1,410213,1052,1551.489,1,0,39,- 611.5,0,1F,1F,0,999999

$RD1,410214,1052,1551.489,1,0,40,- 615.1,0,1F,1F,0,999999

$RD1,410215,1052,1551.489,1,0,40,- 607.1,0,1F,1F,0,999999

See RD1 message for a description of each field in the response.


Although you request D1 through this command the responding message is RD1.

To query the receiver for the current setting, issue the JSHOW command. For example, if you issue the following command:

$JASC,D1,1<CR><LF>

...then issuing the JSHOW command displays the following as part of its output:

$>JSHOW,ASC,D1,1



83

JASC,DFX Command

Command Type:


Description:

Set the proprietary DFX messages to on or off to provide corrections to the rover

This command only applies to a Crescent base receiver when using L-Dif or RTK mode. Differential is relative to the reference position (base only). See the JASC,ROX command for the equivalent message for the Eclipse series of products.

Command Format:

$JASC,DFX,r[,OTHER]<CR><LF>

where:


• ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets)and enacts a change on the other port when you send the command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.

Receiver Response:

$>

Example:

To turn on DFX messages on THIS port issue the following command:

$JASC,DFX,1<CR><LF>





84

JASC,GL Command

Command Type:

GLONASS

Description:

Enable the GLONASS data messages at a particular update rate to be turned on or off. When turning messages on, various update rates are available depending on the requirements.

Command Format:

$JASC,msg,r[,OTHER]<CR><LF>

where:

• 'msg' = name of the data message

• 'r' = message rate (see table below)

•� ',OTHER' = optional field, enacts a change on the current port (THIS port) when you send the command without it (and without the brackets) and enacts a change on the other port (OTHER port) when you send the command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.

Send a command with a zero value for the 'R' field to turn off a message.

MSG R (rate in Hz) Description

GLMLA 1 (on) or 0 (off)

When set to on the message is sent once (one message for each tracked satellite) and then sent again whenever satellite

information changes

GLONASS almanac data

GLGSV 1 or 0 GLONASS satellite in view

Receiver Response:

$>

Example:

To output the GLGNS message through the OTHER port at a rate of 20 Hz, issue the following command:

$JASC,GLGNS,20,OTHER<CR><LF>


The status of this command is also output in the JSHOW message. What does <CR><LF> mean?



85

JASC,GA Command

Command Type:

GALILEO

Description:

Enable the GALILEO data messages at a particular update rate to be turned on or off. When turning messages on, various update rates are available depending on the requirements.

Command Format:


where:



•',OTHER' = optional field, enacts a change on the current port (THIS port) when you send the command without it (and without the brackets) and enacts a change on the other port (OTHER port) when you send the command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.



GNGNS 20, 10, 2, 1, 0 or .2 All GNSS fix data (GAGNS output is GALILEO)

GAGSV 1 or 0 GALILEO satellites in view

Receiver Response:

$>





86

JASC,GQ Command

Command Type:

QZSS

Description:

Enable the QZSS data messages at a particular update rate to be turned on or off.

Command Format:


where:



•�',OTHER' = optional field, enacts a change on the current port (THIS port) when you send the command without it (and without the brackets) and enacts a change on the other port (OTHER port) when you send the command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.



GQGSV 1 or 0 QZSS satellites in view

Receiver Response:

$>

Example:

To output the GQGSV message through the OTHER port, issue the following command:

$JASC,GQGSV,1,OTHER<CR><LF>

Additional Informatio:




87

JASC,GN Command

Command Type:

GPS, Vector

Description:

Enable the GNSS data messages at a particular update rate to be turned on or off. When turning messages on, various update rates are available depending on the requirements.

Command Format:


where:



•� ',OTHER' = optional field, enacts a change on the current port (THIS port) when you send the command without it (and without the brackets) and enacts a change on the other port (OTHER port) when you send the command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.



GNGGA 20, 10, 2, 1, 0 or .2 GNSS fix data

GNGLL 20, 10, 2, 1, 0 or .2 Geographic position - latitude/longitude

GNGNS 20, 10, 2, 1, 0 or .2 GNSS fix data

GNGSA 1 or 0 GNSS DOP and active satellites

Receiver Response:

$>

Example:

To output the GNGNS message through the OTHER port at a rate of 20 Hz, issue the following command:

$JASC,GNGNS,20,OTHER<CR><LF>





88

JASC,GP Command

Command Type:

GPS, Vector

Description:

Enable the GPS data messages at a particular update rate to be turned on or off. When turning messages on, various update rates are available depending on the requirements.

Command Format:


where:



· ',OTHER' = optional field, enacts a change on the current port (THIS port) when you send the command without it (and without the brackets)and enacts a change on the other port (OTHER port) when you send the command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.


MSG R (rate in Hz)

Description

GPALM 1 or 0 GPS almanac data

GPDTM 1 or 0 Datum reference

GPGBS 1 or 0 Satellite fault detection used for RAIM

GPGGA 20, 10, 2, 1, 0 or .2

Detailed GPS position information

GPGLL 20, 10, 2, 1, 0 or .2

Latitude and longitude data

GPGNS 20, 10, 2, 1, 0 or .2

Fixes data for single or combined satellite navigation systems

GPGRS 1, 0 or .2 GNSS range residuals

GNGSA 1 or 0 GPS DOP and active satellite information

GPGST 1 or 0 GNSS pseudorange error statistics

GPGSV 20, 10, 2, 1, 0 or .2

GPS satellites in view


89

GPHDG

or HEHDG

20, 10, 2, 1, 0 or .2

Magnetic deviation and variation for calculating magnetic or true heading

GPHDM

or HEHDM

20, 10, 2, 1, 0 or .2

Magnetic heading of the vessel derived from the true heading calculated

GPHDT

or HEHDT

20, 10, 2, 1, 0 or .2

True heading of the vessel

GPHEV 20, 10, 2, 1, 0 or .2

Heave value in meters

GPHPR 20, 10, 2, 1, 0 or .2

Proprietary NMEA message that provides the true heading, pitch, roll, and time in a single message

GPRMC 10, 2, 1, 0 or .2

Recommended minimum specific GNSS data

GPROT

or HEROT

20, 10, 2, 1, 0 or .2

Vessel’s rate of turn (ROT) information

GPRRE 1 or 0

Range residual message

GPVTG 20, 10, 2, 1, 0 or .2

Course over ground and ground speed

GPZDA 20, 10, 2, 1, 0 or .2

UTC time and date information

Receiver Response:

$>

Example:

To output the GPGGA message through the OTHER port at a rate of 20 Hz, issue the following command:

$JASC,GPGGA,20,OTHER<CR><LF>





90

JASC,INTLT Command

Command Type:

Vector

Description:

Configure the receiver to output pitch and roll data (pitch and roll are factory calibrated over temperature to be accurate to ±3°C) directly from the internal tilt sensor

Saved with JSAVE.

Command Format:

$JASC,INTLT,r[,OTHER]<CR><LF>

where:


· ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets)and enacts a change on the other port when you send the command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.

Receiver Response:

$PSAT,INTLT,pitch,roll*CC<CR><LF>

where pitch and roll are in degrees


PSAT,INTLT message



91

JASC,PASHR Command

Command Type:

Vector

Description:

Configure the receiver to output time, true heading, heave, roll, and pitch data in one message

Command Format:

$JASC,PASHR,r[,OTHER]<CR><LF>

where:


•� ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets) and enacts a change on the other port when you send the command with it (without th brackets). See Configuring the Data Message Output for detailed information on 'THIS'and 'OTHER' port terminology.

Receiver Response:

$PASHR,hhmmss.ss,HHH.HH,T,RRR.RR,PPP.PP,heave,rr.rrr,pp.ppp,hh.hhh,QF*CC<CR>

where:

Message Component

Description

hhmmss.ss UTC time

HHH.HH Heading value in decimal degrees

T True heading (T displayed if heading is relative to true north)

RRR.RR Roll in decimal degrees (- sign will be displayed when applicable)

PPP.PP Pitch in decimal degrees (- sign will be displayed when applicable)

heave Heave, in meters

rr.rrr Roll standard deviation in decimal degrees

pp.ppp Pitch standard deviation in decimal degrees

hh.hhh Heading standard deviation in decimal degrees

QF Quality Flag

• 0 = No position

• 1 = All non-RTK fixed integer positions

• 2 = RTK fixed integer position

*CC Checksum



92

<LF> Line feed

Example:

To turn on the PASHR message on THIS port issue the following command:

$JASC,PASHR,1<CR><LF>

...and the message output appears similar to the following:

$PASHR,162930.00,,T,2.48,3.92,-0.64,0.514,0.514,0.000,1*05

$PASHR,162931.00,,T,2.38,3.93,-0.70,0.508,0.508,0.000,1*07

$PASHR,162932.00,,T,2.67,4.00,-0.66,0.503,0.503,0.000,1*04


PASHR message



93

JASC,PSAT,ATTSTAT Command

Command Type:


Description:

The information of secondary antenna.

Command Format:

$JASC,PSAT,ATTSTAT,r[,OTHER]<CR><LF>

where:


•� ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets)and enacts a change on the other port when you send the command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.

Receiver Response:

$>

Example:

To turn on this message on the THIS port issue the following command:

$JASC,PSAT,ATTSTAT,1<CR><LF>


Issuing the JSAVE command after setting JASC,PSAT,ATTSTAT to 1 (message on at 1Hz) does not save this setting. You must enable JASC,PSAT,ATTSTAT (set it to 1) each time you power on the receiver.

Related Commands and Messages:

PSAT,ATTSTAT message

Topic Last Updated: v. 1.07/ October 13, 2016


94

JASC,PSAT,BLV Command

Command Type:


Description:

Configure the receiver to output the North, East, Upbase-line vector

Command Format:

$JASC,PSAT,BLV,r[,OTHER]<CR><LF>

where:

· 'r' = message rate 0,1,2,5,10,20 (0 = Off, 1 = On at 1Hz)


Receiver Response:

$>

Example:


$JASC,PSAT,BLV,1<CR><LF>


PSAT, BLV message

Topic Last Updated: v.1.07/October 13, 2016


95

JASC,PSAT,FVI Command

Command Type:


Description:

Contains information on position, standard deviation of position, heading, pitch, and roll along with standard deviations of the previous, horizontal and vertical velocities, as well as general position quality information.

Command Format:

$JASC,PSAT,FVI,r[,OTHER]<CR><LF>

where:

• 'r' = message rate 0,1,2,5,10,20 (0 = Off, 1 = On at 1Hz)


Receiver Response:

$>

Example:


$JASC,PSAT,FVI,1<CR><LF>


PSAT, FVI message



96

JASC,PSAT,RTKPROG Command

Command Type:


Description:

Configure the receiver to output RTK fix progress

Command Format:

$JASC,PSAT,RTKPROG,r[,OTHER]<CR><LF>

where:



You can also perform a one-time query of the message information by issuing the JQUERY,RTKPROG command.

Receiver Response:

$>

Example:


$JASC,PSAT,RTKPROG,1<CR><LF>


Issuing the JSAVE command after setting JASC,PSAT,RTKPROG to 1 (message on at 1Hz) does not save this setting. You must enable JASC,PSAT,RTKPROG (set it to 1) each time you power on the receiver.

See also: PSAT,RTKPROG message.

Topic Last Updated: v1.04 / May 29, 2012


97

JASC,PSAT,RTKSTAT Command

Command Type:


Description:

Configure the receiver to output the most relevant parameters affecting RTK

Command Format:

$JASC,PSAT,RTKSTAT,r[,OTHER]<CR><LF>

where:



You can also perform a one-time query of the message information by issuing the JQUERY,RTKSTAT command.

Receiver Response:

$>

Example:


$JASC,PSAT,RTKSTAT,1<CR><LF>


Issuing the JSAVE command after setting JASC,PSAT,RTKSTAT to 1 (message on at 1Hz) does not save this setting. You must enable JASC,PSAT,RTKSTAT (set it to 1) each time you power on the receiver.


JQUERY,RTKSTAT command PSAT,RTKSTAT message



98

JASC,PSAT,VCT Command

Command Type:


Description:

Command Format:

$JASC,PSAT,VCT,r[,OTHER]<CR><LF>

where:

• 'r' = message rate 0,1,2,5,10,20 (0 = Off, 1 = On at 1Hz)


Receiver Response:

$>

Example:


$JASC,PSAT,VCT,1<CR><LF>



PSAT, VCT message



99

JASC,PTSS1 Command

Command Type:

Vector

Description:

Configure the receiver to output heave, pitch, and roll in the commonly used TSS1 message format

Command Format:

$JASC,PTSS1,r[,OTHER]<CR><LF>

where:

• 'r' = messagerate (in Hz) of 0 (off), 0.25,0.5, 1, 2, 4, 5, 10, or 20 (if subscribed)

· ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets) and enacts a change on the other port when you send the command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS'and 'OTHER' port terminology.

Receiver Response:

:XXAAAASMHHHHQMRRRRSMPPPP*CC<CR><LF>

where:

Message Component

Description

XX Horizontal acceleration

AAAA Vertical acceleration

HHHH Heave, in centimeters

S S = space character

M Space if positive; minus if negative

Q Status flag

Value Description

h Heading aided mode (settling) -

The System is receiving heading aiding signals from a gyrocompass but is still awaiting the end of the three minutes settling period after power-on or a change of mode or heave bandwidth. The gyrocompass takes approximately five minutes to settle after it has been powered on. During this time, gyrocompass aiding of the System will not be perfect. The status flag does NOT indicate this condition.

F Full aided mode (settled condition) - The System is receiving and using aiding signals from a gyrocompass and from a GPS receiver or a Doppler log.


RRRR Roll, in units of 0.01 degrees (ex: 1000 = 10°)

S S = space character



100

PPPP Pitch, in units of 0.01 degrees (ex: 1000 = 10°)



TSS1 message



101

JASC,ROX Command

Command Type:


Description:

Set the proprietary ROX messages to on or off to provide corrections to the rover


Command Format:

$JASC,ROX,r[,OTHER]<CR><LF>

where:



Receiver Response:

$>

Example:

To turn on ROX messages on the OTHER port issue the following command:

$JASC,ROX,1,OTHER<CR><LF>





102

JASC,RTCM Command

Command Type:

SBAS

Description:

Configure the receiver to output RTCM version 2 DGPS corrections from SBAS or beacon through either receiver serial port. The correction data output is RTCM SC-104,even though SBAS uses a different over-the-air protocol (RTCA).

Command Format:

$JASC,RTCM,r[,OTHER]<CR><LF>

where:

• 'r' = message status variable (0 = Off, 1 = On)


Receiver Response:

$>

Example:

To output RTCM corrections from SBAS or beacon on THIS port (current port) issue the following command:

$JASC,RTCM,1<CR><LF>


To verify the current setting is on, issue the JSHOW command. You will see output similar to the following:

$>JSHOW,ASC,RTCM,1.0

If the current setting is off, the JSHOW command will not show any information for this setting.



103

JASC,RTCM3 Command

Command Type:


Description:

Set the RTCM version 3 messages to on or off to provide corrections to the rover


Command Format:

$JASC,RTCM3,r[,OTHER]<CR><LF>

where:



Receiver Response:

$>

Example:

To turn on RTCM3 messages on the OTHER port issue the following command:

$JASC,RTCM3,1,OTHER<CR><LF>





104

JASC,VIRTUAL Command

Command Type:


Description:

Configure the receiver to have RTCM data input on one port and output through the other (when using an external correction source)

For example, if RTCM is input on Port B, the data will be output through Port A having corrected the receiver position. he receiver acts as a pass-through for the RTCM data. Either port may be configured to accept RTCM data input; this command enables the opposite port to output the RTCM data.

Command Format:

$JASC,VIRTUAL,r[,OTHER]<CR><LF>

where:

• 'r' = message status variable (0 = Off, 1 = On)


Receiver Response:

$>

Example:

To configure THIS port to output RTCM messages that are being input through the OTHER port issue the following command:

$JASC,VIRTUAL,1

Additional Information :



105

JATLAS Commands

JATLAS,LIMIT Command

Command Type:

L-band

Description:

When using Atlas, configure the accuracy threshold for when the GPGGA quality indicator reports a Fix.

Command Format:

$JATLAS,LIMIT,[OPTION],[THRESHOLD],SAVE<CR><LF>

where:

· [THRESHOLD] is in meters

· The SAVE field is optional. However, if omitted this setting will not survive a power cycle. $JSAVE does not save this setting.

· Options are 3D, HORI, or VERT

To configure the receiver so that it reports an RTK fix when the Atlas solution has converged to 3D accuracy of 30cm, send: $JATLAS,LIMIT,3D,0.3,SAVE<CR><LF>


$JATLAS,LIMIT<CR><LF>

Receiver Response:

Response to issuing command to tune receiver :

$>


106

$JATLAS,POS,PRESENT [,OTHER]

Command Type:

ATLAS

Description:

Saves the current location and associated standard deviations into nonvolatile memory (provided that the present position is sufficiently stable), to be used with Atlas position seeding.

Use of “OTHER” saves the position that is used by the Atlas Autoseed algorithm; otherwise, saves the position that is used for manual position seeding.

Command Format:

$JATLAS,POS,PRESENT[,OTHER] <CR><LF>


See $JATLAS,POS[,OTHER]

Receiver Response:

If the present position is stable, the response is:

$>

If the present position is not stable, the command is ignored and the response is:

Present Location Not Stable

Example:


See $JATLAS,MODE,AUTOSEED and $JATLAS,SEED for additional information about position seeding.

Topic Last Updated: v.3.0/ December 30, 2019


107

$JATLAS,POS[,OTHER]

Command Type:

ATLAS

Description:

Query the receiver for the stored position and standard deviations to be used with Atlas position seeding.

Use of “OTHER” displays the position that is used by the Atlas Autoseed algorithm; otherwise, displays the position that is used for manual position seeding.

Command Format:

$JATLAS,POS[,OTHER] <CR><LF>


Receiver Response:

$>JATLAS,POS,lat,lon,hgt,(LatStDev,LonStDev,HgtStDev)

where:

Command Component

Description

lat Latitude in decimal degrees lon Longitude in decimal degrees hgt Ellipsoidal height in meters.

Ellipsoidal height can be calculated by adding the altitude and the geoidal separation, both available from the GPGGA message. Example: $GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4,1071.0, M,- 17.8,M,6.0, 0122*48 ellipsoidal height = 1071.0 + (-17.8) = 1053.2 meters

LatStDev Standard deviation of latitude in meters LonStDev Standard deviation of longitude in meters HgtStDev Standard deviation of height in meters

Example:

A response to querying the saved position would look like:

$>JATLAS,POS,33.64334383,-111.89596094,455.244,(0.062,0.086,0.156)



Topic Last Updated: v.3.0 /December 30, 2019


108

$JATLAS,POS,lat,lon,hgt[,LatStDev,LonStDev,HgtStDev][,OTHER]

Command Type:

ATLAS

Description:

Saves the input position and optionally the corresponding standard deviation into non-volatile memory, to be used with Atlas position seeding.

Use of “OTHER” saves the position that is used by the Atlas Autoseed algorithm; otherwise, saves the position that is used for manual position seeding.

Command Format:

$JATLAS,POS,lat,lon,hgt,[LatStDev,LonStDev,HgtStDev][,OTHER]<CR><LF>

where:

Command Component

Description



LatStDev Standard deviation of latitude in meters [optional] LonStDev Standard deviation of longitude in meters [optional] HgtStDev Standard deviation of height in meters [optional]


See $JATLAS,POS[,OTHER]

Receiver Response:

$>

Example:

$JATLAS,POS,33.64334383,-111.89596094,455.244,0.062,0.086,0.156<CR><LF>



Topic Last Updated: v.3.0 / December 30, 2019


109

$JATLAS,SEED[,OTHER]

Command Type:

ATLAS

Description:

Manually seed the Atlas solution with the saved position and standard deviations.

Use of “OTHER” seeds the position using the location stored for the Atlas Autoseed algorithm; otherwise, seeds using the location stored for manual position seeding.

Command Format:

$JATLAS,SEED[,OTHER] <CR><LF>


Receiver Response:

$>

If the seed position is not close enough to the current location, the response is:

$>JATLAS,SEED,Current Position Too Far From Seed

Example:


Position seeding can reduce Atlas convergence time by supplying the engine with a known position at initialization.

Warning: Manual seeding should be used with caution, as any errors entered here will affect the future accuracy of the position solution. The seed position coordinates should generally be known to within several centimeters before attempting to seed the position.

See also $JATLAS,MODE,AUTOSEED, which handles the Atlas position seeding automatically.



110

$JATLAS,SEED,lat,lon,hgt[,LatStDev,LonStDev,HgtStDev]

Command Type:

ATLAS

Description:

Manually seed the Atlas solution with the input position and optionally standard deviations.

Command Format:

$JATLAS,SEED,lat,lon,hgt,[LatStDev,LonStDev,HgtStDev]<CR><LF>

where:

Command Component

Description



LatStDev Standard deviation of latitude in meters [optional] LonStDev Standard deviation of longitude in meters [optional] HgtStDev Standard deviation of height in meters [optional]


Receiver Response:

$>

If the input coordinates are not close enough to the current location, the response is:

$>JATLAS,SEED,Current Position Too Far From Seed


111

Example:

$JATLAS,SEED,33.64334383,-111.89596094,455.244,0.062,0.086,0.156<CR><LF>



Warning: Manual seeding should be used with caution, as any errors entered here will affect the future accuracy of the position solution. The seed position coordinates should generally be known to within several centimeters before attempting to seed the position.

See also $JATLAS,MODE,AUTOSEED, which handles the Atlas position seeding automatically.



112

$JATLAS,MODE,AUTOSEED[,YES/NO]

Command Type:

ATLAS

Description:

Enable or disable the Atlas AUTOSEED feature, or query the current setting.

Command Format:

To enable the AUTOSEED feature:

$JATLAS,MODE,AUTOSEED,YES<CR><LF>

To disable the AUTOSEED feature:

$JATLAS,MODE,AUTOSEED,NO<CR><LF>


$JATLAS,MODE,AUTOSEED<CR><LF>

Receiver Response:

Response to issuing command to enable/disable AUTOSEED feature:

$>


$>JATLAS,MODE,AUTOSEED,[YES/NO]

Example:



When AUTOSEED is enabled, receiver locations are automatically saved to memory. The last saved position will then automatically be used to seed the solution when the receiver is powered back on (under appropriate conditions—see below).

The setting for AUTOSEED mode is automatically saved to memory.

Warning: The AUTOSEED position can only be saved if the receiver has not detected motion for 5 s. It is therefore recommended that the user allow sufficient stationary time before powering off.

Warning: The antenna must not be moved after being powered off. The antenna must continue to remain stationary when powered back on and until the seeding process completes. The AUTOSEED feature may not function properly if the antenna has moved more than several centimeters during this time.



113

$JATLAS,RESET,ENGINE

Description:

The $JATLAS,RESET,ENGINE command resets the Atlas engine

Command Type:

ATLAS

Description:

Reset the Atlas engine, forcing the solution to re-converge.

Command Format:

$JATLAS,RESET,ENGINE


Receiver Response:

$>

Example:




114

$JATLAS,STATUS,AUTOSEED

Command Type:

ATLAS

Description:

The $JATLAS,STATUS,AUTOSEED command displays the status of the AUTOSEED initialization process.

Description:

Displays the status of the Atlas AUTOSEED initialization process.

Command Format:

$JATLAS,STATUS,AUTOSEED<CR><LF>


Receiver Response:

$>JATLAS,STATUS,AUTOSEED,status

where 'status' is one of following:

Status Description

NoAtlas Autoseeding cannot occur because the Atlas solution is not available.

Disabled Autoseed mode is not enabled.

Seeding Autoseeding is in process.

Failed_NoSeed Autoseeding failed because no seed position is available.

Failed_Moved Autoseeding failed because receiver motion was detected during the seeding process.

Failed_Timeout Autoseeding failed to complete within the required time.

Success Autoseeding was successful.

Example:


See also $JATLAS,MODE,AUTOSEED for additional information about Atlas Autoseed.



115

JATT Commands

JATT

The JATT command is used to define or query attitude settings for Vector products.

Command Description

JATT,COGTAU Set the course over ground (COG) time constant (0.0 to 3600.0 seconds) or query the current setting

JATT,CSEP Query to retrieve the current separation between GPS antennas

JATT,EXACT Enable/disable internal filter reliance on the entered antenna separation or query the current setting

JATT,FLIPBRD Allow upside down installation

JATT,GYROAID Turn on gyro aiding or query the current feature status

JATT,HBIAS Set the heading bias or query the current setting

JATT,HELP Show the available commands for GPS heading operation and status

JATT,HIGHMP Set/query the high multipath setting for use in poor GPS environments

JATT,HRTAU Set the rate of turn time constant or query the current setting

JATT,HTAU Set the heading time constant or query the current setting

JATT,LEVEL Turn on level operation or query the current feature status

JATT,MOVEBASE Set the auto GPS antenna separation or query the current setting

JATT,MSEP Set (manually) the GPS antenna separation or query the current setting

JATT,NEGTILT Turn on the negative tilt feature or query the current setting

JATT,NMEAHE Instruct the Vector to preface the HDG, HDT, ROT and THS messages with GP or HE, and the HDM message with GP or HC.

JATT,PBIAS Set the pitch bias or query the current setting

JATT,PTAU Set the pitch time constant or query the current setting

JATT,ROLL Configure the Vector for roll or pitch output

JATT,SEARCH Force a new RTK heading search

JATT,SPDTAU Set the speed time constant (0.0 to 3600.0 seconds) or query the current setting

JATT,SUMMARY Show the current configuration of the Vector

JATT,TILTAID Turn tilt aiding on/off or query the Vector for the current status of this feature

JATT,TILTCAL Calibrate the internal tilt sensor of the Vector



116

JATT,COGTAU Command

Note: The JTAU,COG command provides identical functionality but works with positioning and heading products.

Command Type:

Vector

Description:

Set the course over ground (COG) time constant (0.0 to 200.0seconds) or query the current setting.

This command allows you to adjust the level of responsiveness of the COG measurement provided in the GPVTG message. The default value is 0.0 seconds of smoothing. Increasing the COG time constant increases the level of COG smoothing.

COG is computed using only the primary GPS antenna (when using a multi- antenna system) and its accuracy depends upon the speed of the vessel (noise is proportional to 1/speed). This value is invalid when the vessel is stationary, as tiny movements due to calculation inaccuracies are not representative of a vessel’s movement.

Command Format:

Set the COG time constant:

$JATT,COGTAU,cogtau<CR><LF>

where 'cogtau' is the new COG time constant that falls within the range of 0.0 to 200.0 seconds

The setting of this value depends upon the expected dynamics of the Crescent. If the Crescent will be in a highly dynamic environment, this value should be set lower because the filtering window would be shorter, resulting in a more responsive measurement. However, if the receiver will be in a largely static environment, this value can be increased to reduce measurement noise.


$JATT,COGTAU<CR><LF>

Receiver Response:

$>


You can use the following formula to determine the COG time constant: cogtau (in seconds) = 10 / maximum rate of change of course (in °/s).

If you are unsure about the best value for this setting, it is best to be conservative and leave it at the default setting of 0.0 seconds.



117

JATT,CSEP Command

Command Type:

Vector

Description:

Query the Vector for the current calculated separation between antennas, as solved for by the attitude algorithms

Command Format:

$JATT,CSEP<CR><LF>

Receiver Response:

$>

$>JATT,X,CSEP

where 'X' is the antenna separation in meters




118

JATT,EXACT Command

Command Type:

Vector

Description:

Enabling forces the heading calculation to rely on the MSEP value (see $JATT,MSEP).

Disabling forces the heading calculation to rely on the CSEP and the MSEP values.

Command Format:

Enable/disable internal filter reliance

To enable internal filter reliance:

$JATT,EXACT,YES<CR><LF>

To disable internal filter reliance:

$JATT,EXACT,NO<CR><LF>


$JATT,EXACT<CR><LF>

Receiver Response:

$>


Topic Last Updated: v2.0/April 30, 2019


119

JATT,FLIPBRD Command

Command Type:

Vector

Description:

Turn the flip feature on/off or query the current feature status

Allow the Vector OEM board to be installed upside down. You should use this command only with the Vector Sensor and the Vector OEM board because flipping the OEM board does not affect the antenna array that needs to remain facing upwards. When using this command, the board needs to be flipped about roll so the front still faces the front of the vessel.

For all OEM heading boards starting the H328 and H220, this command is replaced with $JATT,ACC180 and $JATT,ACC90.

Command Format:

Turn the flip feature on/off

To turn the flip feature on:

$JATT,FLIPBRD,YES<CR><LF>

To turn the flip feature off (return to default mode - right side up):

$JATT,FLIPBRD,NO<CR><LF>

Query current the current setting:

$JATT,FLIPBRD<CR><LF>

Receiver Response:

$>


Topic Last Updated: v3.0 / December 30, 2019


120

JATT,GYROAID Command

Command Type:

Vector

Description:

Turn gyro aiding on or off or query the current setting

The Vector’s internal gyro—enabled by default when shipped—offers two benefits.

It shortens reacquisition times when a GPS heading is lost because of obstruction of satellite signals. It does this by reducing the search volume required for solution of the RTK.

It provides an accurate substitute heading for a short period (depending on the roll and pitch of the vessel) ideally seeing the system through to reacquisition.

For these two benefits, Hemisphere GNSS highly recommend leaving gyro aiding on.

Exceeding rates of 90°/sec is not recommended because the gyro cannot measure rates beyond this point. This is a new recommendation since Hemisphere GNSS now uses gyro measurements to obtain a heading rate measurement.

Command Format:

Turn gyro aiding on/off

To turn gyro aiding on:

$JATT,GYROAID,YES<CR><LF>

To turn gyro aiding off:

$JATT,GYROAID,NO<CR><LF>


$JATT,GYROAID<CR><LF> Receiver Response:

$>


Every time you power up the Vector the gyro goes through a warm-up procedure and calibrates itself. You cannot save the resulting calibration, so the self-calibration takes place every time the Vector is power cycled.

This self-calibration procedure takes several minutes and is the equivalent of the following manual calibration procedure.

With the Vector unit installed:

1. Apply power and wait several minutes until it has acquired a GPS signal and is computing heading.

2. Ensure gyro aiding is on by issuing the following command: $JATT,GYROAID<CR><LF>

3. Slowly spin the unit for one minute at no more than 15°/sec.

4. Keep the unit stationary for four minutes. Both the manual and the self-calibration

Procedures calibrate the Crescent Vector’s gyro to the same effect.



121

JATT,HBIAS Command

Command Type:

Vector

Description:

Set the heading output from the Vector to calibrate the true heading of the antenna array to reflect the true heading of the vessel or query the current setting

Command Format:

Set the heading output:

$JATT,HBIAS,x<CR><LF>

where 'x' is a bias that will be added to the Vector’s heading in degrees. The acceptable range for the heading bias is -180.0° to 180.0°. The default value of this feature is 0.0°.

Query the current setting (current compensation angle):

$JATT,HBIAS<CR><LF>

Receiver Response:

$>




122

JATT,HELP Command

Command Type:

Vector

Description:

Show the available commands for GPS heading operation and status

Command Format:

$JATT,HELP<CR><LF>

Receiver Response:

$>JATT,HELP,CSEP,MSEP,EXACT,LEVEL,HTAU,HRTAU,HBIASPBIAS,NEGTILT,ROLL,TILTAID, TILTCAL,MAGAID,MAGCAL,MAGCLR,GYROAID,COGTAU,SPDTAU,SEARCH,SUMMARY




123

JATT,HIGHMP Command

Command Type:

Vector

Description:

Enable/disable the high multipath setting for use in poor GPS environments or query the current setting

Enabling HIGHMP mode may result in longer heading acquisition times in high multipath environments. In HIGHMP mode, the Vector will not output heading until it has good confidence in the result. In very poor environments, this may take a few minutes or more; in normal environments, there is only a slight increase in heading acquisition time.

Command Format:

Set the high multipath setting

To enable the high multipath setting:

$JATT,HIGHMP,YES<CR><LF>

To disable the high multipath setting:

$JATT,HIGHMP,NO<CR><LF>


$JATT,HIGHMP<CR><LF>

Receiver Response:

$>




124

JATT,HRTAU Command

Command Type:

Vector

Description:

Set the rate of turn (ROT) time constant to adjust the level of responsiveness of the ROT measurement provided in the GPROT message or query the current setting

The default value of this constant is 2.0 seconds of smoothing. Increasing the time constant increases the level of ROT smoothing.

Command Format:

Set the heading rate time constant:

$JATT,HRTAU,hrtau<CR><LF>

where 'hrtau' is the new time constant that falls within the range of 0.0 to seconds

The setting of this value depends upon the expected dynamics of the vessel. For example, if the vessel is very large and cannot turn quickly, increasing this time is reasonable. The resulting heading would have reduced ‘noise’, resulting in consistent values with time. However, artificially increasing this value such that it does not agree with a more dynamic vessel could create a lag in the ROT measurement with higher rates of turn.


$JATT,HRTAU<CR><LF>

Receiver Response:

$>


You can use the following formula to determine the level of smoothing: hrtau (in seconds) = 10 / maximum rate of the rate of turn (in °/s2)

Note: If you are unsure about the best value for the setting, leave it at the default setting of 2.0 seconds.



125

JATT,HTAU Command

Command Type:

Vector

Description:

Set the heading time constant to adjust the level of responsiveness of the true heading measurement provided in the GPHDT message or query the current setting.

For OEM boards the default value of this constant is 0.5 seconds of smoothing (regardless of whether the gyro is enabled or disabled). For finished products that implement an OEM board the default value may be different—check your product's documentation for this value.

Although the gyro is enabled by default, you can disable it. Increasing the heading time constant increases the level of heading smoothing and increases lag only if the gyro is disabled.

Command Format:

Set the heading time constant:

$JATT,HTAU,htau<CR><LF>

where 'htau' is the new time constant that falls within the range of 0.0 to seconds

The setting of this value depends upon the expected dynamics of the vessel. If the vessel is very large and cannot turn quickly, increasing this time is reasonable. The resulting heading would have reduced ‘noise’ resulting in consistent values with time. However, artificially increasing this value such that it does not agree with a more dynamic vessel could create a lag in the heading measurement with higher rates of turn.


$JATT,HTAU<CR><LF>

Receiver Response:

$>


You can use the following formula to determine level of heading smoothing required when the gyro is in use:

Gyro on

htau (in seconds) = 40 / maximum rate of turn (in °/s)

Gyro off

htau (in seconds) = 10 / maximum rate of turn (in °/s)

If you are unsure about the best value for the setting, leave it at the default setting of 2.0 seconds when the gyro is on and at 0.5 seconds when the gyro is off.



126

JATT,LEVEL Command

Command Type:

Vector

Description:

Turn level operation on or off or query the current setting

If the Vector will be operated within ±10° of level, you may use this mode of operation for increased robustness and faster acquisition times of the heading solution.

Command Format:

Turn level operation on/off

To turn level operation on:

$JATT,LEVEL,YES<CR><LF>

To turn level operation off:

$JATT,LEVEL,NO<CR><LF>


$JATT,LEVEL<CR><LF>

Receiver Response:

$>




127

JATT,MOVEBASE Command

Command Type:

Vector

Description:

Set the auto GPS antenna separation or query the current setting

If the operation is turned on ,you do not need to set the GPS antenna separation manually . Only multi-frequency boards are supported.

Command Format:

Turn move base on/off

To turn move base operation on:

$JATT,MOVEBASE,YES<CR><LF>

To turn move base operation off:

$JATT,MOVEBASE,NO<CR><LF>


$JATT,MOVEBASE<CR><LF>

Receiver Response: $>




128

JATT,MSEP Command

Command Type:

Vector

Description:

Manually enter a custom separation between antennas (must be accurate to within 2 cm) or query the current setting

Command Format: Set the antenna separation:

Using the new center-to-center measurement, issue the following command:

$JATT,MSEP,sep<CR><LF>

where 'sep' is the measured antenna separation entered in meters


$JATT,MSEP<CR><LF>

Receiver Response:

$>




129

JATT,NEGTILT Command

Command Type:

Vector

Description:

Turn the negative tilt feature on or off or query the current setting.

When the secondary GPS antenna (SA) is below the primary GPS antenna (PA), there is an angle formed between a horizontal line through the center of the primary antenna (Line A in the diagram below) and an intersecting line through the center of the primary and secondary antennas (Line B). This angle is considered to be negative.

Depending on the convention for positive and negative pitch/roll, you want to change the sign (either positive or negative) of the pitch/roll.

Command Format:

Turn negative tilt feature on/off

To change the sign of the pitch/roll measurement:

$JATT,NEGTILT,YES<CR><LF>

To return the sign of the pitch/roll measurement to its original value:

$JATT,NEGTILT,NO<CR><LF>


$JATT,NEGTILT<CR><LF>

Receiver Response:

$>




130

JATT,NMEAHE Command

Command Type:

Vector

Description:

Instruct the Vector to preface the following messages with GP or HE.

• HDG

• HDM

• HDT

• ROT

Command Format:

$JATT,NMEAHE,x<CR><LF>

where 'x' is either 1 for HE or 0 for GP

To preface specific messages with GP:

$JATT,NMEAHE,0<CR><LF>

To preface specific messages with HE:

$JATT,NMEAHE,1<CR><LF>

Receiver Response:

$>

$>JATT,NMEAHE,OK


The HDM message is for a magnetic compass. The message will be HCHDM when requesting with $JATT,NMEAHE,1specified.



131

JATT,PBIAS Command

Command Type:

Vector

Description:

Set the pitch/roll output from the Vector to calibrate the measurement if the antenna array is not installed in a horizontal plane or query the current setting.

Command Format:

Set the pitch/roll output:

$JATT,PBIAS,x<CR><LF>

where 'x' is a bias that will be added to the Vector’s pitch/roll measure, in degrees

The acceptable range for the pitch bias is -15.0° to 15.0°. The default value is 0.0°.


$JATT,PBIAS<CR><LF>

Receiver Response:

$>


Note: The pitch/roll bias is added after the negation of the pitch/roll measurement (if invoked with the JATT,NEGTILT command). Use PBIAS to describe any angular differences between the level of the two GPS antennas. Pitch is the default, but if the antennas are mounted in the roll direction, you can still enter the roll bias in PBIAS (make sure JATT,ROLL,YES is set).



132

JATT,PTAU Command

Command Type:

Vector

Description:

Set the level of responsiveness of the pitch measurement provided in the PSAT,HPR message or query the current setting.

For OEM boards the default value of this constant is 0.5 seconds of smoothing (regardless of whether the gyro is enabled or disabled). For finished products that implement an OEM board the default value may be different—check your product's documentation for this value. Increasing the pitch time constant increases the level of pitch smoothing and increases lag.

Command Format:

Set the pitch time constant:

$JATT,PTAU,ptau<CR><LF>

where 'ptau' is the new time constant that falls within the range of 0.0 to 3600.0 seconds.

The setting of this value depends upon the expected dynamics of the vessel. For instance, if the vessel is very large and cannot pitch quickly, increasing this time is reasonable. The resulting pitch would have reduced ‘noise’, resulting in consistent values with time.

However, artificially increasing this value such that it does not agree with a more dynamic vessel could create a lag in the pitch measurement.


$JATT,PTAU<CR><LF>

Note: If you are unsure about the best value for the setting, leave it at the default setting of 0.5 seconds.

Receiver Response:

$>


You can use the following formula to determine the level of pitch smoothing required:

ptau (in seconds) = 10 / maximum rate of pitch (in °/s)



133

JATT,ROLL Command

Command Type:

Vector

Description:

Configure the Vector for roll or pitch GPS antenna orientation.

Command Format:

Configure the Vector for pitch or roll GPS antenna orientation:

To configure the Vector for roll GPS antenna orientation (the Antenna Array must be installed perpendicular to the vessel’s axis):

$JATT,ROLL,YES<CR><LF>

To configure the Vector for pitch GPS antenna orientation (default):

$JATT,ROLL,NO<CR><LF>


$JATT,ROLL<CR><LF>

Receiver Response:

$>




134

JATT,SEARCH Command

Command Type:

Vector

Description:

Force the Vector to reject the current GPS heading solution and begin a new search.

Command Format:

$JATT,SEARCH<CR><LF>

Receiver Response:

$>


The SEARCH function will not work if you have enabled the gyroaid feature (using the GYROAID command). In this case you must cycle power to the receiver to have a new GPS solution computed.



135

JATT,SPDTAU Command

Note: The JTAU,SPEED command provides identical functionality but works with Crescent and Eclipse products in addition to Crescent Vector products.

Command Type:

Vector

Description:

Set the speed time constant (0.0 to 3600.0seconds) or query the current setting.

This command allows you to adjust the level of responsiveness of the speed measurement provided in the GPVTG message. The default value is 0.0 seconds of smoothing. Increasing the speed time constant increases the level of speed measurement smoothing.

Command Format:

Set the speed time constant:

$JATT,SPDTAU,spdtau<CR><LF>

where 'spdtau' is the new time constant that falls within the range of 0.0 to 200.1 seconds

The setting of this value depends upon the expected dynamics of the receiver. If the receiver will be in a highly dynamic environment, you should set this to a lower value, since the filtering window will be shorter, resulting in a more responsive measurement. However, if the receiver will be in a largely static environment, you can increase this value to reduce measurement noise.


$JATT,SPDTAU<CR><LF>

Receiver Response:

$>


You can use the following formula to determine the COG time constant (Hemisphere GNSS recommends testing how the revised value works in practice):

spdtau (in seconds) = 10 / maximum acceleration (in m/s2)




136

JATT,SUMMARY Command

Command Type:

Vector

Description:

Display a summary of the current Vector settings.

Command Format:

$JATT,SUMMARY<CR><LF>

Receiver Response:

$>JATT,SUMMARY,htau,hrtau,ptau,cogtau,spdtau,hbias,pbias,hexflag<CR><LF>

where:

Component Description

htau Current heading time constant, in seconds

hrtau Current heading rate time constant, in seconds

ptau Current pitch time constant, in seconds

cogtau Current course over ground time constant, in seconds

spdtau Current speed time constant, in seconds

hbias Current heading bias, in degrees

pbias Current pitch/roll bias, in degrees

hexflag Hex code that summarizes the heading feature status

Flag 'On' 'Off'

Value Value

Gyro aiding 02 0

Negative tilt 01 0

Roll 08 0

Tilt aiding 02 0

Level 01 0

The 'hexflag' field is two separate hex flags:

• 'GN' - Value is determined by computing the sum of the gyro aiding and negative tilt values, depending on whether they are on or off:

• If the feature is on, their value is included in the sum • If the feature is off, it has a value of zero when computing the sum • 'RTML'- Value is determined in much the same way, but by adding the value of roll, tilt

aiding, and level operation

For example, if gyro aiding, roll, and tilt aiding features were each on, the values of 'GN' and 'RMTL' would be:


137

• 'GN' = hex (02 + 0) = hex (02) = 2 • 'RMTL' = hex (08 + 02) = hex (10) = A • ‘GN-RMTL’ = 2A

The following tables summarize the possible feature configurations for the first 'GN' character and the second 'RMTL' character.

JATT,SUMMARY 1st GN Character Configurations

GN Value Gyro Value Negative Tilt

0 Off Off

1 Off On

2 On Off

3 On On

JATT,SUMMARY 2nd RMTL Character Configurations

RMTL

Value

Roll Tilt Aiding Level

0 Off Off Off

1 Off Off On

2 Off On Off

3 Off On On

8 On Off Off

9 On Off On

A On On Off

B On On On

Example:

$>JATT,SUMMARY,TAU:H=0.50,HR=2.00,COG=0.00,SPD=0.00,BIAS:H=0.00,P=0.00, FLAG_HEX:HF-RMTL=01


Topic Last Updated: v.1. 06/ March 10, 2015


138

JATT,TILTAID Command

Command Type:

Vector

Description:

Turn tilt aiding on or off or query the current setting.

The Vector’s internal tilt sensors (accelerometers) may be enabled by default (see your specific product manuals for further information).

The sensors act to reduce the RTK search volume, which improves heading startup and reacquisition times. This improves the reliability and accuracy of selecting the correct heading solution by eliminating other possible, erroneous solutions.

Command Format:

Turn tilt aiding on/off

Turn tilt aiding on:

$JATT,TILTAID,YES<CR><LF>

Turn tilt aiding off:

$JATT,TILTAID,NO<CR><LF>


$JATT,TILTAID<CR><LF>

Receiver Response:

Response to issuing command to turn tilt aiding on/off:

$>


If setting is currently ON the response is:

$>JATT,TILTAID,ON

If setting is currently OFF the response is:

$>JATT,TILTAID,OFF


Tilt aiding is required to increase the antenna separation of the Vector OEM beyond the default 0.5 m length.

Topic Last Updated: v.1. 06/ March 10, 2015


139

JATT,TILTCAL Command

Command Type:

Vector

Description:

Calibrate the internal tilt sensors of the Vector Calibration takes approximately two seconds and is automatically saved to memory for subsequent power cycles.

You can calibrate the tilt sensor of the Vector in the field but the Vector enclosure must be horizontal when you calibrate.

$JATT,TILTCAL<CR><LF>

Command Format:

Receiver Response:

$>




140

JBAUD Command

JBAUD Command

Command Type:


Description:

Specify the baud rates of the receiver or query the current setting.

Command Format:

Specify the baud rates:

$JBAUD,r[,OTHER][,SAVE]<CR><LF>

where:

· 'r' = baud rate (4800, 9600, 19200, 38400, 57600, or 115200)

•� ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets) and enacts a change on the other port when you send the command with it (without the brackets)

•�',SAVE' = optional field, saves the baud rate into flash memory so that if you reset power the receiver will boot at the new baud rate (it may take several seconds to save the baud rate to flash memory)


$JBAUD[,OTHER]<CR><LF>

where:

• ',OTHER' = optionalfield, queries the current port when you sendthe command without it (and withoutthe brackets) and queries the other port when you send the command with it (without the brackets)

Receiver Response:

$>JBAUD,R[,OTHER]

The response format is the same whether you specify the baud rates or query the current settings.

Example:

Issue the following command to set the baud rate to 19200 on the current port:

$JBAUD,19200<CR><LF>

...the response is then:

$>JBAUD,19200

Issue the following command to set the baud rate to 9600 on the OTHER port and save it into memory:

$JBAUD,9600,OTHER,SAVE<CR><LF>


$>JBAUD,9600,OTHER


141


Note: When saving the baud rate wait until you see the SAVE COMPLETE message before powering off the receiver. See the JSAVE command for an example of this output.

The status of this command is also output when issuing the JSHOW command.



142

JBIN Command

JBIN Command

Command Type:


Description:

Enable the output of the various binary messages

Command Format:

$JBIN,msg,r<CR><LF>

where:

• 'msg' = binary message you want to output

• 'r' = message rate as shown in the following table

Message Name

MSG R (Hz) Description

Bin1 1 20, 10, 2, 1, 0, or

.2

GPS position message (position and velocity data)

Bin2 2 1 or 0 GPS DOPs (Dilution of Precision)

Bin3 3 20, 10, 2, 1, 0, or

.2

Lat/Lon/Hgt, Covariances, RMS, DOPs and COG, Speed, Heading

Bin5 5 1 or 0 Base station information

Bin16 16 All constellation code and phase observation data

Bin19 GNSS diagnostic information

Bin35 35 1 or 0 BeiDou ephemeris information

Bin36 36 1 or 0 BeiDou code and carrier phase information (all

frequencies)

Bin44 44 GALILEO time conversion

Bin45 45 GALILEO ephemeris

Bin62 62 1 or 0 GLONASS almanac information

Bin65 65 1 or 0 GLONASS ephemeris information

Bin66 66 20, 10, 2, 1, or 0 GLONASS L1/L2 code and carrier phase information

Bin69 69 1 or 0 GLONASS L1/L2 diagnostic information


143

Bin76 76 20, 10, 2, 1, 0, or

.2

GPS L1/L2 code and carrier phase information

Bin80 80 1 or 0 SBAS data frame information

Bin89 89 1 or 0 SBAS satellite tracking information

Bin93 93 1 or 0 SBAS ephemeris information

Bin94 94 1 or 0 Ionospheric and UTC conversion parameters

Bin95 95 1 or 0 GPS ephemeris information

Bin96 96 20, 10, 2, 1, or 0 GPS L1 code and carrier phase information

Bin97 97 20, 10, 2, 1, 0, or

.2

Processor statistics

Bin98 98 1 or 0 GPS satellite and almanac information

Bin99 99 1 or 0 GPS L1 diagnostic information

Bin100 100 1 or 0 GPS L2 diagnostic information

Bin122 122 20, 10, 5, 2, 1, 0, .5, .2, .1

Alternate position solution data

Bin209 209 1 or 0 SNR and status for all GNSS tracks

Receiver Response:

$>

Example:

To output the Bin76 message at a rate of 10 Hz, issue the following command:

$JBIN,76,10<CR><LF>


Higher update rates may be available on select binary message.



144

JBOOT Commands

JBOOT Command

Command Type:


Description:

Power cycles the receiver.

Command Format:

$JBOOT<CR><LF>

Receiver Response:

The response is similar to the following:

$>STARTED,MFA,Ver=5.9 Aa08

If any application other than MFA is the current application and you send the $JBOOT command, the response is similar to the following:

$>




145


146

JCONN Command

JCONN Command

Command Type:


Description:

Create a virtual circuit between two ports to enable communication through the receiver to the device on the opposite port.

Command Format:

To connect two ports virtually:

$JCONN,P1,P2<CR><LF>

where P1 and P2 are a pair of the following: A,B,C,D or PortA,PortB,PortC,PortD

Examples:

$JCONN,A,B<CR><LF>

$JCONN,PortA,PortB<CR><LF>

To disconnect virtual connection:

$JCONN,X<CR><LF>

Receiver Response:

$>


Caution: Hemisphere GNSS receivers with menus, such as an R Series, use JCONN within the menu application. Any settings you make with JCONN on these products may disable the menu functions until power is cycled.



147

JDIFF Commands

JDIFF Command

Command Type:


Description:

Specify or query the differential source of the receiver.

Forces the system to use “diff” as the source (see table in Command Format section below).

Command Format:

Specify the differential mode:

$JDIFF,diff[,SAVE]<CR><LF>

where:

· 'diff' (differential source) may be one of the following:

DIFF Description

OTHER Instruct the receiver to use external corrections input through the opposite port that is communicating

THIS Instruct the receiver to use external corrections input through the same port that is communicating

PORTA

or PORTB

or PORTC

or PORTD

Instruct the receiver to:

• Use external corrections input through the specified port.

• Allow RTCM2 (DGPS) inputs to receiver.

BEACON Instruct the receiver to use RTCM corrections entering Port C at a fixed rate of 9600 baud. This input does not have to be from a beacon receiver, such as SBX. However, this is a common source of corrections.

WAAS Instruct the receiver to use SBAS. This is also the response when running the local dif application as the base.

RTK Response when running the local dif or rover RTK application for the rover.

LBAND Instruct the receiver to turn on theAtlas module and useAtlas. Setting diff to anything other thanAtlas turns off theAtlas module.


148

X Instruct the receiver to use e-Dif

mode

NONE Instruct the receiver to operate in autonomous mode. This turns off the use of SBAS,Atlas, and RTCM2 (DGPS); however, RTK is still allowed.

,SAVE' = optional field, saves the differential source into flash memory so that if you reset power the receiver will boot with the new differential source (it may take several seconds to save the differential source to flash memory).

Using $JDIFF with SBAS, RTCM2, or Atlas assigns the priority in the MFA. For example, RTCM2is a higher priority if the assigned diff port is PORTA. See MFA for more information.

Query the current DIFF setting:

$JDIFF<CR><LF>

Receiver Response:

Receiver response when specifying the differential source:

$>

Receiver response when querying the differential source:

$>JDIFF,SOURCE,TYPE

where:

• 'SOURCE' is the port/source as issued with the JDIFF command • TYPE' is the differential type actually being used • 'AUTO' is the response when queried in e-Dif

Example:

Issue the following command to query the receiver:

$JDIFF<CR><LF>

...and if the differential source is WAAS, the response is:

$>JDIFF,WAAS

Additional Information: The status of this command is also output in the JSHOW message.



149

JDIFF,AVAILABLE Command

Command Type:


Description:

Query the receiver for the differential types currently being received

Command Format:

$JDIFF,AVAILABLE<CR><LF>

Receiver Response:

$>JDIFFX,AVAILABLE,x[,x][,x]...[,x]

where 'x' is the differential type(s)

Example:




150

JDIFFX,EXCLUDE Command

Command Type:


Description:

Specify the differential sources to be excluded from operating in a multi-differential application or query the receiver for excluded differential sources.

Command Format:

Specify the differential sources to be excluded:

$JDIFFX,EXCLUDE[,SBAS] [,ARTK] [,ATLAS] [,RTCM2][,EDIF][,DFX][,CMR] [,RTCM3][,ROX] [,RTCM_23] [,BEIDOU]<CR><LF>


$JDIFFX,EXCLUDE<CR><LF>

Receiver Response:

Response to issuing command to exclude differential sources

$>


$JDIFFX,EXCLUDE[,SOURCE1][,SOURCE2]...[,SOURCEn]<CR><LF>

where SOURCE1 through SOURCEn represent each excluded source

Example:

Issue the following command to exclude RTCM3:

$JDIFFX,EXCLUDE,RTCM3<CR><LF>

If you then issue $JDIFFX,EXCLUDE<CR><LF> to query the current setting the response is (if RTCM3 is the only excluded source):

$>JDIFFX,EXCLUDE,RTCM3<CR><LF>




151

JDIFFX,GNSSOUT Command

Command Type:


Description:

Specify the GNSS systems to be output in the differential or query the current setting

Command Format:

Specify the GNSS systems to be output in the differential:

$JDIFFX,GNSSOUT,gnss,x<CR><LF>

where:

· 'gnss' = GNSS system to be outputin the differential (GPS , GLONASS, BEIDOU, GALILEO)

· 'x' = NO (do not output specified GNSS system in the differential) or YES (output specified GNSS system in the differential)

Query the current setting

Query what GNSS systems are output in the differential:

$JDIFFX,GNSSOUT<CR><LF

Query if a specific GNSS system is output in the differential:

$JDIFFX,GNSSOUT,gnss<CR><LF

where 'gnss' is the GNSS system

Receiver Response:

Receiver response when specifying the GNSS systems to be output in the differential.

$>

Receiver response when querying the current setting, see Example section below:

Example:

Specify that GPS is output in correction formats:

$JDIFFX,GNSSOUT,GPS,YES<CR><LF>

Receiver Response:

$>

Query what GNSS systems are output in the differential:

$JDIFFX,GNSSOUT<CR><LF>

Response if just GPS:

$>JDIFFX,GNSSOUT,GPS

Response if all GPS and GLONASS:

$>JDIFFX,GNSSOUT,GPS,GLONASS

Query if a specific GNSS system is output in the differential (example uses GLONASS)


152

$JDIFFX,GNSSOUT,GLONASS<CR><LF>

Response if GLONASS is output:

$>JDIFFX,GNSSOUT,GLONASS,YES

Response if GLONASS is not output:

$>JDIFFX,GNSSOUT,GLONASS,NO




153

JDIFFX,INCLUDE Command

Command Type:


Description:

Specify the differential sources to be allowed to operate in a multi-differential application or query the receiver for included differential sources.

Command Format:

Specify the differential sources to be included:

$JDIFFX,INCLUDE[,SBAS] [,ARTK] [,ATLAS] [,RTCM2][,EDIF][,DFX][,CMR] [,RTCM3][,ROX] [,RTCM_23] [,BEIDOU]<CR><LF>


$JDIFFX,INCLUDE<CR><LF>

Receiver Response:

Response to issuing command to include differential sources:

$>


$JDIFFX,INCLUDE[,SOURCE1][,SOURCE2]...[,SOURCEn]<CR><LF>

where SOURCE1 through SOURCEn represent each included source

Example:

Issue the following command to include CMR:

$JDIFFX,INCLUDE,CMR<CR><LF>

If you then issue $JDIFFX,INCLUDE<CR><LF> to query the current setting the response may be (showing all included sources including CMR):

$>JDIFFX,INCLUDE,SBAS,RTCM2,EDIF,DFX,CMR,RTCM3,ROX


For example, if an Eclipse II receiver with SBAS,Atlas, and RTK-base in the same application (multi-diff) has no active Atlas subscription:

1. The receiver tries Atlas high precision services and when it is not found, falls back to Atlas DGPS service.

2. The receiver tries Atlas DGPS service and when it is not found, falls back to WAAS.

3. No warnings when subscription has expired – user expects a certain level of accuracy with Atlas services,not SBAS level accuracy.

If you do not actively watch the Atlas service end date, you could potentially use SBAS without knowing it. This command limits the differential sources to ensure a certain level of accuracy is retained.



154

JDIFFX,SOURCE Command

Command Type:


Description:

Query the receiver for the differential source

Command Format:

$JDIFFX,SOURCE<CR><LF>

Receiver Response:

$>JDIFFX,source

where 'source' is the differential source

Example:

Response if Atlas is the differential source:

$>JDIFFX,SOURCE,LBAND

Response if RTK is the differential source through Port B:

$>JDIFFX,SOURCE,PORTB




155

JDIFFX,TYPE Command

Command Type:


Description:

Query the receiver for the differential type

Command Format:

$JDIFFX,TYPE<CR><LF>

Receiver Response:

$>JDIFFX,TYPE,type

where 'type' is one of the following differential types:

• NONE (no differential corrections)

• CMR

• DFX

• EDIF

• ROX

• RTCM2

• RTCM3

• SBAS

Example:

Response if SBAS is the differential type:

$>JDIFFX,TYPE,SBAS

Response if RTK (ROX) is the differential type:

$>JDIFFX,TYPE,ROX




156

JDISNAVMODE Command

Command Type:


Description:

Enable/disable Athena nav mode reporting in BIN1 and BIN3 messages.

Command Format:

$JDISNAVMODE<CR><LF>

Receiver Response:

Response to issuing command to enable/disable detailed nav mode display:

$>


$> JDISNAVMODE[,DEFAULT][,PHOENIX]


This setting is automatically saved and can be reset to default by sending $JRESET Topic Last Updated: v1.08 / June 21, 2017

https://hemispheregnss.com/gnssreference/General_Operation_and_Configuration_Commands.htm


157

JEPHOUT, PERIODSEC Command

JEPHOUT,PERIODSEC Command

Command Type:


Description:

To allow ephemeris messages (95, 65, 35) to go out a rate other than when they change. This also does the same rate for the ionoutc message 94. This is a global message and applies to all ephemeris messages on all ports.

Command Format:

Enable/disable the command

To enable this command

$JEPHOUT,1<CR><LF>

To disable this command:

$JEPHOUT,0<CR><LF>


$JEPHOUT<CR><LF>

Receiver Response:

Response to issuing command to enable/disable command

$>

Response to querying the current setting

If setting is currently enabled the response is:

$>JEPHOUT,1

If setting is currently disabled the response is:

$>JEPHOUT,0




158

JETHERNET Commands

JETHERNET Command Overview

The JETHERNET command is used to configure Ethernet settings on Ethernet-capable boards.

Command Description

JETHERNET Query current Ethernet configuration state

JETHERNET,MODE Enable/Disable Ethernet

JETHERNET, PORTI Enable/Disable PORTI virtual serial port

JETHERNET, NTRIPCLIENT Receive RTK correction over IP from NTRIP caster



159

JETHERNET,MODE

Command Type:


Description:

On receivers with Ethernet support, this command allows configuring how the receiver connects to a network on the Ethernet interface.

Command Format:

$JETHERNET,MODE,OFF<CR><LF>

$JETHERNET,MODE,DHCP<CR><LF>

$JETHERNET,MODE,STATIC,IP,SUBNET[,GATEWAY[,DNS]]<CR><LF>

Where IP, SUBNET, GATEWAY, and DNS are the ip address, subnet mask, gateway ip, and dns server ip respectively, in the standard decimal notation.

Receiver Response:

$>JETHERNET,MODE,...<CR><LF>

Example:

To disable Ethernet support, one would use the command.

$JETHERNET,MODE,OFF<CR><LF>

To enable Ethernet support in DHCP (automatic IP address assignment by the network) mode, use the following command:

$JETHERNET,MODE,DHCP<CR><LF>

To enable Ethernet support with a fixed IP address of 192.168.1.5, use the following command:

$JETHERNET,MODE,STATIC,192.168.1.5,255.255.255.0<CR><LF> Additional Information:

Topic Last Updated v.1.07 / : February 16, 2017


160

JETHERNET,PORTI

Command Type:


Description:

This command configures the virtual serial port ‘PORTI’, which may be accessible via the Ethernet interface. By default PORTI is disabled, but may be enabled on a specified TCP port using this command. This interface supports acting as either TCP server or TCP client, depending on whether you specify a destination host or not. Messages can be enabled on the port with commands such as $JASC and $JBIN by specifying ‘PORTI’ as the destination port.

Note that PORTI provides full access just as a local serial port would, and does not have an authentication mechanism. As such, care should be taken for what networks it is enabled on, especially if behaving as a TCP server.

Command Format:

$JETHERNET,PORTI,OFF<CR><LF>

To turn off the PORTI interface.

$JETHERNET,PORTI,PORT<CR><LF>

Where ‘PORT’ is replaced with a port number to listen for incoming TCP connections on, behaving as a TCP server.

$JETHERNET,PORTI,HOST,PORT<CR><LF>

Where ‘HOST’ and ‘PORT’ are replaced with the host (IP address or domain name) and port to make an outgoing TCP connection to, behaving as a TCP client.

$JETHERNET,PORTI,HOST1,PORT1,HOST2,PORT2<CR><LF>

Same as the above, except allowing two host/port pairs. The second one is can be switched to if an outgoing connection to the first fails, or vice versa. Only one connection will be active at a time.

Receiver Response:

$>JETHERNET,PORTI,...<CR><LF>

Where the response reflects the current configuration.

Example:

To disable the PORTI virtual serial port, one may use the command:

$>JETHERNET,PORTI,OFF<CR><LF>

To enable PORTI listening on TCP port 5000, one may use the following command:

$>JETHERNET,PORTI,5000<CR><LF> Additional Information:



161

$JETHERNET,PORTUDP Command

Command Type:


Description:

The $JETHERNET,PORTUDP command allows configuring a virtual serial port for transmitting messages via UDP packets. Up to four destination host/port pairs may be specified, and messages will be sent to all of them at once. This is for outgoing data only, and incoming data or commands via UDP are not accepted. Messages can be enabled on the port with commands such as $JASC and $JBIN by specifying ‘PORTJ’ as the destination port.

Command Format:

$JETHERNET,PORTUDP,OFF<CR><LF>

To turn off the PORTJ transmission.

$JETHERNET,PORTUDP,HOST,PORT<CR><LF>

Where ‘HOST’ and ‘PORT’ are replaced with the host (IP address or domain name) and port to transmit UDP messages to.

$JETHERNET,PORTUDP,HOST1,PORT1,HOST2,PORT2,…<CR><LF>

Up to four hosts/port pairs may be specified.

Receiver Response:

$>JETHERNET,PORTUDP,...<CR><LF>

Where the response reflects the current configuration.

Topic Last Updated: v3/0/December 30, 2019


162

$JETHERNET,NTRIPCLIENT Command

Command Type:


Description:

The $JETHERNET,NTRIPCLIENT command allows configuring a simple NTRIP client for the receive correction messages from.

Command Format:

$JETHERNET,NTRIPCLIENT,OFF<CR><LF>

To turn off the NTRIP client transmission.

$JETHERNET,NTRIPCLIENT,HOST,PORT,MOUNTPOINT,USERNAME,PASSWORD<CR><LF>

Where ‘HOST’, ‘PORT’, ‘MOUNTPOINT’, ‘USERNAME’, and ‘PASSWORD’ are all replaced with the relevant configuration parameters for connecting to the NTRIP caster. The username and password fields can be omitted if the NTRIP caster in question does not require authentication.

Receiver Response:

$>JETHERNET,NTRIPCLIENT,...<CR><LF>

$>JETHERNET,NTRIPSTATUS,Connecting,0.0KB,0.0 seconds<CR><LF>

Where the first line indicates the current configuration, and the second line indicates the status of the NTRIP client connection. The second line will be omitted if the NTRIP client is turned off.

Topic Last Updated: v3.0/December 30, 2019


163

JFLASH Commands

JFLASH Command Overview

The JFLASH command is used to perform file operations via a USB flash drive on Eclipse and Eclipse II based receivers.

Command Description

JFLASH,DIR Display the files on a USB flash drive

JFLASH,FILE,CLOSE Close an open file on a USB flash drive

JFLASH,FILE,NAME Open a specific file, append to a specific file, or display the file name of the open file on a USB flash drive

JFLASH,FILE,OPEN Create and open a file with an automatically generated file name on a USB flash drive

JFLASH,FREESPACE Display the free space in kilobytes (KB) on a USB flash drive

JFLASH,NOTIFY,CONNECT Enable/disable the automatic response when a USB flash drive is inserted or removed

JFLASH,QUERYCONNECT Manually verify if a USB flash drive is connected or disconnected



164

JFLASH,DIR Command

Command Type:


Description:

Display the files on a USB flash drive

You can only display files at the root level of the flash drive (you cannot navigate into subdirectories).

Command Format:

$JFLASH,DIR<CR><LF>

Receiver Response:

$>JFLASH,file1

$>JFLASH,file2

$>JFLASH,file3

$>JFLASH,filen

One line appears for each file at the root level of the flash drive.

Example:

If you issue the $JFLASH,DIR command and the root level of the flash drive contains the following files:

hemi_1.bin, hemi_2.bin, hemi_3.bin the response is:

$>JFLASH,hemi_1.bin

$>JFLASH,hemi_2.bin

$>JFLASH,hemi_3.bin




165

JFLASH,FILE,CLOSE Command

Command Type:


Description:

Close an open file on a USB flash drive

Closing a file does not turn off the messages being written to the flash drive; it just closes the file so you can safely remove the flash drive. Caution: Close the file before removing the flash drive. Failure to do so may corrupt the file.

Command Format:

$JFLASH,FILE,CLOSE<CR><LF>

Receiver Response:

$>JFLASH,CLOSE mass_storage:0:\filename

Example:

If you issue the $JFLASH,FILE,CLOSE command and the 'hemi_4.bin' file on the flash drive is currently open, the response is:

$>JFLASH,CLOSE mass_storage:0:\HEMI_4.BIN




166

JFLASH,FILE,NAME Command

Command Type:


Description:

Open a specific file, append to a specific file, or display the file name of the open file on a USB flash drive.

Command Format:

Open a specific file (overwrite or append):

$JFLASH,FILE,NAME,filename[,APPEND]<CR><LF>

where:

• 'filename' is the name of the file and it must be a legal 8.3 file name

• ',APPEND' is an optional field that allows you to append data to the file

Warning: Using this command without the ",Append" option overwrites the existing file without warning.

Display the name of the open file:

$JFLASH,FILE,NAME<CR><LF>

Receiver Response:

Response from issuing command to open an existing file or append to an existing file:

$>JFLASH, OPEN mass_storage:0:\filename

Response from issuing command to display the name of the open file

$>JFLASH, mass_storage:0:\filename

If you attempt to display the name of the open file and no file is actually open the response is:

$>JFLASH, NO FILE OPEN

Example:

If you issue the following command to open file hemi_4.bin on a USB flash drive:

$JFLASH,FILE,NAME,hemi_4.bin<CR><LF>

the response is:

$>JFLASH, mass_storage:0:\HEMI_4.BIN




167

JFLASH,FILE,OPEN Command

Command Type:


Description:

Create and open a file with an automatically generated file name (hemi_1.bin… hemi_99.bin) on a USB flash drive (only 8.3 file format is allowed)

Command Format:

$JFLASH,FILE,OPEN<CR><LF>

Receiver Response:

$>JFLASH,OPEN mass_storage:0:\filename

where 'filename' is the name of the new file

Example:

If you issue the $JFLASH,FILE,OPEN command and the root level of the flash drive contains the following files:

hemi_1.bin, hemi_2.bin, hemi_3.bin the response is:

$>JFLASH,OPEN mass_storage:0:\HEMI_4.bin Additional Information:



168

JFLASH,FREESPACE Command

Command Type:


Description:

Display the free space in kilobytes (KB) on a USB flash drive. You can use a flash drive larger than 4GB; however, this command will not display a number greater than 4GB.

Command Format:

$JFLASH,FREESPACE<CR><LF>

Receiver Response:

$>JFLASH,FREESPACE, numbytes bytes

where 'numbytes' is the number of kilobytes

Example:

The following response indicates a USB flash drive with approximately 2GB of free space.

$>JFLASH,FREESPACE,2001731584bytes




169

JFLASH,NOTIFY,CONNECT Command

Command Type:


Description:

Enable/disable the automatic response when a USB flash drive is inserted or removed (if port is not specified the response will be sent to the port that issued the command)

Command Format:

$JFLASH,NOTIFY,CONNECT,r[,PORT]<CR><LF>

where:

• 'r' is the message status variable (0 = Off, 1 = On)

• ',PORT' is an optional field you use to specify the port to which the response will be sent (if you do not specify a port, the response is sent to the port from which you issued the command)

Receiver Response:

Response to issuing command to enable notification:

$>

Response to inserting a flash drive if notification is enabled:

$>JFLASH,CONNECTED

Response to removing a flash drive if notification is enabled:

$>JFLASH,DISCONNECTED



170

JFLASH,QUERYCONNECT Command

Command Type:


Description:

Manually verify if a USB flash drive is connected or disconnected

Command Format:

$JFLASH,QUERYCONNECT<CR><LF>

Receiver Response:

Response to verifying the connection status of a flash drive if the flash drive is connected:

$>JFLASH,CONNECTED

$>

Response to verifying the connection status of a flash drive if the flash drive is disconnected:

$>JFLASH,DISCONNECTED

$>




171

JFREQ Command

JFREQ Command

Command Type:

Atlas

Description:

Tune the Atlas receiver (manually or automatically) or query the receiver for the current setting.

Command Format:

Tune the Atlas receiver

To manually tune the receiver:

$JFREQ,freq,symb<CR><LF>

where:

1. 'freq' is the frequency in kHz (reply is in MHz)

2. symb' is the symbol baud rate (600)

Note:

Examples:

Correct: $JFREQ,1545915,600 (1,545,915 Hz,)

To auto-tune the receiver:

$JFREQ,0<CR><LF>

Note:


$JFREQ<CR><LF>

Receiver Response:

Response to issuing command to tune receiver:

$>


172


$>JLBEAM,Sent sfreq,Used ufreq,Baud baud,Geolon[,AUTO]

where:

Response Component

Description

sfreq Frequency to which the Atlas receiver is instructed to tune (in this example, 1557.8550 MHz)

ufreq Frequency to which the Atlas receiver is tuned

baud Baud rate of the signals being received

lon Approximate longitude of the geostationary satellite to which the Atlas receiver is tuned

Example:

Manually Tune a Frequency (command and response):

$JFREQ,1545915,600

$>

Auto-Tune a Frequency based on Geographic Location (command and response):

$JFREQ,AUTO

$>

Query a Manually Tuned Receiver (response):

$>JLBEAM,Sent 1557.8350,Used 1557.8350,Baud 1200,Geo -101

Query an Auto-Tuned Receiver (response):

$>JLBEAM,Sent 1557.8550,Used 1557.8550,Baud 1200,Geo -101,AUTO


The status of this command is also output when issuing the JSHOW command.

The following table provides frequency information for the Atlas satellites. This information is subject to change. Visit your Atlas service provider’s website for up-to-date satellite constellation and broadcast information.

Coverage Area Frequency Baud Rate Satellite Name

North and South America

1545.915 MHz 600 AMERICAS

Asia-Pacific 1545.855 MHz 600 APAC

Europe, Middle East and Africa

1545.905 MHz 600 EMEA

Eastern Europe and Middle East

1545.915 MHz 600 MEAS


173



174

JGEO Command

JGEO Command

Command Type:

SBAS

Description:

Display information related to the current frequency of SBAS or Atlas satellite and its location in relation to the receiver’s antenna

Command Format:

$JGEO[,ALL]<CR><LF>

where ',ALL' is an optional field that displays information for all SBAS satellites (including those not being used)

Receiver Response:

$>JGEO,SENT=1575.4200,USED=1575.4200,PRN=prn,LON=lon,EL=ele,AZ=az

where:

Response Component

Description

JGEO Message header

Sent=1575.4200 Frequency sent to the digital signal processor

Used=1575.4200 Frequency currently used by the digital signal processor

PRN=prn WAAS satellite PRN number

Lon=-lon Longitude of the satellite

El=ele Elevation angle from the receiver antenna to the WAAS satellite, reference to the horizon

AZ=az Azimuth from the receiver antenna to the WAAS satellite, reference to the horizon

Example:

To display information related to the current frequency of SBAS issue the following command:

$JGEO[,ALL]<CR><LF>

The response is then:

$>JGEO,SENT=1575.4200,USED=1575.4200,PRN=122,LON=-54,EL=9.7,AZ=114.0

To display information for dual SBAS satellites issue the following command:

$JGEO[,ALL]<CR><LF>

The response is:

$>JGEO,SENT=1575.4200,USED=1575.4200,PRN=122,LON=-54,EL=9.7,AZ=114.0

$>JGEO,SENT=1575.4200,USED=1575.4200,PRN=134,LON=178,EL=5.0,AZ=252.6

The first line of output is identical to the output from the first JGEO query above; however, the second line of output provides information on the WAAS satellite not being currently used. Both lines of output follow the same format.


175




176

JHTYPE_SHOW Command

JHTYPE_SHOW Command

Queries the hardware type.


177

JI Command

JI Command

Command Type:


Description:

Display receiver information, such as its serial umber and firmware version

Command Format:

$JI<CR><LF>

Receiver Response:

$>JI,SN,FLT,HW,PROD,SDATE,EDATE,SW,DSP<CR><LF>

where:

Response Component

Description

SN Serial number of the GPS engine

FLT Fleet number

HW Hardware version

PROD Production date code

SDATE Subscription begin date

EDATE Subscription expiration date

SW Application software version number

DSP DSP version (only valid for Atlas applications)

Example:

$>JI,19422368,20,1,04062018,01/01/1900,01/01/6455,5.9Aa08,89




178

JK Command

JK Command

Command Type:


Description:

Subscribe the receiver to various options, such as higher update rates, Atlas or RTK.

or

Query for the current subscription expiration date when running Atlas application or the receiver subscription code when running all other applications

Command Format:

Subscribe the receiver to specific options:

$JK,x…<CR><LF>

where 'x…' is the subscription key provided by Hemisphere GNSS and is 56 characters in length


$JK<CR><LF>

Receiver Response:

Response to issuing command to subscribe:

$>


$>JK,DateCode,SubscriptionCode,DowngradeCode

where:

· 'DateCode' indicates your subscription information (compare last four digits of Date Code to determine your subscription and see the Example section below and the examples in Understanding Additive Codes)

· 'SubscriptionCode' is the hex equivalent of the Date Code

· 'DowngradeCode' is the output rate in Hertz indicating a downgrade from the default of 10 Hz (if 1, 2 or 5 does not appear the output rate is the default 10 Hz)

Example:

If you query the receiver for the current setting when running A t l a s applications the response will appear similarto the following:


179

$>JK,06/30/2011,0

If you query the receiver for the current setting when running any other application the response will appear similar to the following (Crescent Vector example response shown). Example shows no downgrade code (using default output rate of 10 Hz).

$>JK,01/01/3007,7


Interpreting the $JK 'Date'/Subscription Codes

Last Updated: v.3.0/ December 30, 2019


180

JK SHOW Command

Command Type:


Description:

Contain authorization information

Command Format:

$JK,SHOW<CR><LF>

Receiver Response:

$>JK,SHOW,0,SUBOPT,ENDDATE,0,OPT=,SUBSCRIPTION DESCRIPTION,<CR><LF>

where:

Example:

$>JK,SHOW,0,157F,12/31/2016,0,OPT=,20HZ,EDIF,RTK,BASE,RAW_DATA,L2_L5,MULTI_ GNSS,BEIDOUB3,ATLAS_LBAND,ATLAS_30cm


181


Interpreting the $JK 'Date'/Subscription Codes



182

JLBEAM Command

JLBEAM Command

Command Type:

L-Band

Description:

Display the information of each spot beam currently in use by the Atlas receiver

Command Format:

$JLBEAM<CR><LF>

Receiver Response:

$>JLBEAM,Sent 1545.9150,Used 1545.9150,Baud 600,Geo -98,AUTO

$>JLBEAM,Sent freq,Used freq,Baud xxx,Geo xxx (1)

$>JLBEAM,freq1,lon1,lat1,baud1,satlon1 (2).

$>JLBEAM,freqn,lonn,latn,baudn,satlonn

where:

Response Component

Description

"Sent" freq Frequency sent to the digital signal processor (DSP)

"Used" freq Frequency currently being used by the digital signal processor (DSP)

"Baud" xxxx Currently used baud rate of the acquired signal

"Geo" xxx Currently used satellites longitude (in degrees)

The output second line components are described in the following table:

Response Component

Description

freq Frequency of the spot beam

lon Longitude of the center of the spot beam (in degrees)

lat Latitude of the center of the spot beam (in degrees)

baud Baud rate at which this spot beam is modulated

satlon Satellites longitude (in degrees)

Example:

$>JLBEAM,Sent 1551.4890,Used 1551.4890,Baud 1200,Geo -101

$>JLBEAM,1556.8250,-88,45,1200,(-101)


183

$>JLBEAM,1554.4970,-98,45,1200,(-101)

$>JLBEAM,1551.4890,-108,45,1200,(-101)

$>JLBEAM,1531.2300,25,50,1200,(16)

$>JLBEAM,1535.1375,-75,0,1200,(-98)

$>JLBEAM,1535.1375,-165,13,1200,(-98)

$>JLBEAM,1535.1525,20,6,1200,(25)

$>JLBEAM,1558.5100,135,-30,1200,(160)

$>JLBEAM,1535.1375,90,15,1200,(109)JLBEAM Command

$>JLBEAM,1535.1375,179,15,1200,(109)




184

JLIMIT Command

JLIMIT Command

Command Type:


Description:

Set the threshold of estimated horizontal performance for which the DGPS position LED is illuminated or query the current setting.

Command Format:

Set the threshold of estimated horizontal performance:

$JLIMIT,limit<CR><LF>

where 'limit' is the new limit in meters


$JLIMIT<CR><LF>

Receiver Response:

Receiver response when setting the threshold of estimated horizontal performance

$>

$>JLIM,RESID,LIMIT

where 'LIMIT' is the limit in meters

Example:

To set the threshold to 5 m issue the following command:

$JLIMIT,5<CR><LF>

If you then query the receiver with $JLIMIT<CR><LF> the response is:

$JLIM,RESID,5.00


The default value for this parameter is a conservative 10.00 m. The status of this command is also output in the JSHOW message.



185

JLXBEAM Command

JLXBEAM Command

Command Type:

L-B and Description:

Display spot beam debug information.

Command Format:

$JLXBEAM<CR><LF>

Receiver Response:

$>JLBEAMEX

$> Beam:1,DDSfreq1,symbol1,lon1,lat1,lonrad1,latrad1,beamrot1,satlon1,*

$> Beam:2,DDSfreq2,symbol2,lon2,lat2,lonrad2,latrad2,beamrot2,satlon2,*

$> Beam:n,DDSfreqn,symboln,lonn,latn,lonradn,latradn,beamrotn,satlonn,*

where:

Response Component

Description

DDSfreq DDS frequency

symbol Symbol rate used for that particular spot beam

lon Longitude of the spot beam centroid

lat Latitude of the spot beam centroid

lonrad Longitude radius of the spot beam

latrad Latitude radius of the spot beam

beamrot Rotation angle of the spot beam

satlon Longitude of the Atlas satellite

* Reserved

Example:

$>JLBEAMEX

$> Beam:22,1535125000,600,-26,40,2,41,0,9999,*

$> Beam:21,1535157500,600,65,30,31,18,-21,64,*

$> Beam:13,1535185000,1200,136,-25,23,28,-40,144,*


186

$> Beam:13,1535185000,1200,172,-40,13,26,-26,144,*

$> Beam:24,1557835000,1200,-100,49,6,28,0,-101,*

$> Beam:24,1557835000,1200,-101,66,12,6,0,-101,*

$> Beam:25,1557845000,1200,-74,52,12,30,-30,-101,*

$> Beam:26,1557855000,1200,-122,45,11,30,25,-101,*

$> Beam:8,1535137500,1200,-85,2,30,20,-5,-98,*

$> Beam:8,1535137500,1200,-60,-25,34,36,-20,-98,*

$> Beam:4,1535137500,1200,109,2,14,19,-27,109,*

$> Beam:4,1535137500,1200,140,38,27,51,-56,109,*

$> Beam:7,1537440000,1200,23,-2,29,49,50,25,*

$> Beam:7,1537440000,1200,14,59,41,23,34,25,*

$> Beam:7,1537440000,1200,11,28,17,24,0,25,*



187

JMASK Command

JMASK Command

Command Type:

GPS

Description:

Specify the elevation cutoff mask angle for the GPS engine

Any satellites below this mask angle will be ignored even if available. The default angle is 5° because satellites available below this angle will have significant tropospheric refraction errors.

Command Format:

$JMASK,e<CR><LF>

where the elevation mask cutoff angle 'e' may be a value from 0 to 60°

Receiver Response:

$>

Example:

To specify the elevation cutoff mask angle to 10° issue the following command:

$JMASK,10<CR><LF>


To query the receiver for the current setting, issue the JSHOW command.



188

JMODE Commands

JMODE Command

Command Type:


Description:

Query receiver for status of JMODE settings

Command Format:

$JMODE<CR><LF>

Receiver Response:

$>JMODES[,BASE][,FIXLOC][,FOREST][,GLOFIX][,GPSONLY][,L1ONLY][,MIXED] [,NULLNM

Example:

If FOREST and TUNNEL are set to ON and all others ( MIXED, NULLNMEA,SBASR, and TIMEKEEP) are set to OFF and you issue

$JMODES,TUNNEL,FOREST

If all features are set to OFF and you issue the JMODE command the receiver response will be:

$JMODES


The status of this command is also output in the JSHOW response. For example, if TUNNEL is set to ON and all other JMODE option:

$>JSHOW,MODES,TUNNEL



189

JMODE,BASE Command

Command Type:

General Operation and Configuration, Local Differential and RTK Commands

Description:

Enable/disable base mode functionality or query the current setting:

• If base mode is NO (disabled) and the receiveris receiving RTK corrections, these corrections are echoed out when RTK corrections (ROX, RTCM3, CMR) are requested

• If base mode is YES (enabled), the receiver computes its own corrections, regardless of whether or not it is receiving RTK corrections from another source

Command Format:

Enable/disable base mode

To enable base mode:

$JMODE,BASE,YES<CR><LF>

To disable base mode:

$JMODE,BASE,NO<CR><LF>


$JMODE,BASE<CR><LF>

Receiver Response:

Response to issuing command to enable/disable base mode:

$>


If base mode is currently enabled the response is:

$>JMODE,BASE,YES

If base mode is currently disabled the response is:

$>JMODE,BASE,NO

Example:




190

JMODE,BDSOFF Command

Command Type:


Description:

Set the receiver to use BDS data in the solution

Command Format:

Close/Open BDS operation

Close BDS operation:

$JMODE,BDSOFF,YES<CR><LF>

Open BDS operation:

$JMODE,BDSOFF,NO<CR><LF>

Receiver Response:

Response to issuing command to turn enable/disable BDS operation:

$>


If BDS operation is currently enabled the response is:

$>JMODE,BDSOFF,YES

If BDS operation is currently disabled the response is:

$>JMODE,BDSOFF,NO


Topic Last Updated: v1.07 / Octoter 13, 2016


191

JMODE,FIXLOC Command

Command Type:


Description:

Set the receiver to not re-average (or re-average) its position or query the current setting.

$JMODE,FIXLOC,YES assure that the BASE will not re-average its position. Good for permanent installations.

Command Format:

Enable/disable position re-averaging

To set receiver to not re-average its position:

$JMODE,FIXLOC,YES<CR><LF>

To set receiver to re-average its position:

$JMODE,FIXLOC,NO<CR><LF>


$JMODE,FIXLOC<CR><LF>

Receiver Response:

Response to issuing command to enable/disable position re-averaging:

$>


If setting is currently enabled (no position re-averaging) the response is:

$>JMODE,FIXLOC,YES

If setting is currently disabled (position re-averaging enabled) the response is:

$>JMODE,FIXLOC,NO

Example:




192

JMODE,FOREST Command

Command Type:


Description:

Enable/disable high gain functionality (for tracking under canopy) or query the current setting.

This command is useful if you are trying to maximize the likelihood of calculating a position, but are willing to sacrifice accuracy.

See also JMODE,MIXED.

Command Format:

Enable/disable high gain functionality

To enable high gain functionality:

$JMODE,FOREST,YES<CR><LF>

To disable high gain functionality:

$JMODE,FOREST,NO<CR><LF>


$JMODE,FOREST<CR><LF>

Receiver Response:

Response to issuing command to turn functionality on/off:

$>


If high gain functionality is currently enabled the response is:

$>JMODE,FOREST,YES

If high gain functionality is currently disabled the response is:

$>JMODE,FOREST,NO




193

JMODE,GLOFIX

Command Type:


Description:

Enable/disable use of RTCM v3 (RTK) GLONASS correctors.

GLOFIX does not affect CMR or ROX (CMR does not have GLONASS, and ROX correctors are always used regardless of the GLOFIX setting) and SureTrack is automatically used for any satellite that does not have GLONASS correctors.

Command Format:

Enable/disable use of RTCM v3 GLONASS correctors

To enable use of RTCM v3 GLONASS correctors:

$JMODE,GLOFIX,YES<CR><LF>

To disable use of RTCM v3 GLONASS correctors:

$JMODE,GLOFIX,NO<CR><LF>


$JMODE,GLOFIX<CR><LF>

Receiver Response:

Response to issuing command to turn functionality on/off:

$>


If use of RTCM v3 GLONASS correctors is currently enabled the response is:

$>JMODE,GLOFIX,YES

If use of RTCM v3 GLONASS correctors is currently disabled the response is:

$>JMODE,GLOFIX,NO




194

JMODE,GLOOFF Command

Command Type:


Description:

Set the receiver to use GLONASS data in the solution

Command Format:

Close/Open GLONASS operation

Close GLONASS operation:

$JMODE,GLOOFF,YES<CR><LF>

Open GLONASS operation:

$JMODE,GLOOFF,NO<CR><LF>

Receiver Response:

Response to issuing command to turn enable/disable GLONASS operation

$>


If GLONASS operation is currently enabled the response is:

$>JMODE,GLOOFF,NO

If GLONASS operation is currently disabled the response is:

$>JMODE,GLOOFF,YES




195

JMODE,GPSOFF Command

Command Type:


Description:

Set the receiver to use GPS data in the solution or query the current setting

Command Format:

Close/Open GPS Operation

Close GPS operation:

$JMODE,GPSOFF,YES<CR><LF>

Open GPS operation:

$JMODE,GPSOFF,NO<CR><LF>

Receiver Response:

Response to issuing command to turn enable/disable GPS-only operation

$>


If GPS-only operation is currently enabledthe response is:

$>JMODE,GPSONLY,YES

If GPS-only operation is currently disabled the response is:

$>JMODE,GPSONLY,NO




196

JMODE,GPSONLY Command

Command Type:


Description:

Set the receiver to use GPS data in the solution or query the current setting (if GLONASS is available, setting to YES will cause the receiver to only use GPS data)

Command Format:

Enable/disable GPS-only operation

Enable GPS-only operation:

$JMODE,GPSONLY,YES<CR><LF>

Disable GPS-only operation (use GLONASS as well if available):

$JMODE,GPSONLY,NO<CR><LF>


$JMODE,GPSONLY<CR><LF>

Receiver Response:

Response to issuing command to turn enable/disable GPS-only operation

$>


If GPS-only operation is currently enabled the response is:

$>JMODE,GPSONLY,YES

If GPS-only operation is currently disabled the response is:

$>JMODE,GPSONLY,NO




197

JMODE,L1ONLY Command

Command Type:


Description:

Set the receiver to use L1 data even if L2 data is available or query the current setting:

• When set to YES receiver will use Atlas DGPS service or L1 RTK

•�� When set to NO receiver will use Atlas high precision services or L1/L2 RTK

Command Format:

Set receiver to use/not use L1 data even if L2 data is available

To use L1 data (even if L2 data is available):

$JMODE,L1ONLY,YES<CR><LF>

To use L2 data if it is available:

$JMODE,L1ONLY,NO<CR><LF>


$JMODE,L1ONLY<CR><LF>

Receiver Response:

Response to issuing command to turn functionality on/off

$>


If the receiver is currently using L1 data only even if L2 data is available the response is:

$>JMODE,L1ONLY,YES

If the receiver is currently using L2 data if it is available the response is:

$>JMODE,L1ONLY,NO




198

JMODE,MIXED Command

Command Type:


Description:

Include satellites that do not have DGPS or SBAS corrections in the solution or query the current setting

This command is useful if you are trying to maximize the likelihood of calculating a position, but are willing to sacrifice accuracy. See also JMODE,FOREST.

Command Format:

To include/exclude satellites without DGPS or SBAS corrections

To include satellites without DGPS or SBAS corrections:

$JMODE,MIXED,YES<CR><LF>

To exclude satellites without DGPS or SBAS corrections:

$JMODE,MIXED,NO<CR><LF>

Query the current settin g:

$JMODE,MIXED<CR><LF>

Receiver Response:

Response to issuing command to include/exclude satellites without DGPS or SBAS corrections

$>


If satellites without differential corrections are currently included the response is:

$>JMODE,MIXED,YES

If satellites without differential corrections are currently excluded the response is:

$>JMODE,MIXED,NO




199

JMODE,NULLNMEA Command

Command Type:


Description:

Enable/disable output of NULL fields in NMEA 0183 messages when no there is no fix (when position is lost) or query the current setting

This only applies to position portion of the messages; it does not affect the time portion of the message. If this setting is disabled and position is lost then the positioning parameters of the message from the most recent known position are repeated (instead of being NULL if enabled).

Command Format:

Enable/disable output of NULL fields in NMEA 0183 messages

To enable output:

$JMODE,NULLNMEA,YES<CR><LF>

To disable output:

$JMODE,NULLNMEA,NO<CR><LF>


$JMODE,NULLNMEA<CR><LF>

Receiver Response:

Response to issuing command to enable/disable output of NULL fields in NMEA 0183 messages

$>



$>JMODE,NULLNMEA,YES


$>JMODE,NULLNMEA,NO

Example:

If the most recent GPGGA message is as follows:

$GPGGA,220715.00,3333.4254353,N,11153.3506065,W,2,10,1.0,406.614,M,- 26.294,M,6.0,1001*70

...and then position is lost and JMODE,NULLNMEA is set to NO the GPGGA message repeats as follows (most recent known values do not change):

$GPGGA,220715.00,3333.4254353,N,11153.3506065,W,2,10,1.0,406.614,M,- 26.294,M,6.0,1001*70

For the same message, if position is lost and JMODE,NULLNMEA is set to YES the GPGGA message repeats as follows (position parameters are NULL):


200

$GPGGA,220716.00,,,,,0,,,,M,,M,,*48




201

JMODE,SBASNORTK Command

Command Type:


Description:

Disable/enable the use of SBAS ranging signals (carrier phase)in RTK

Command Format:

Disable/enable use of SBAS ranging signalsin RTK

To disable use of SBAS ranging signals in RTK:

$JMODE,SBASNORTK,YES<CR><LF>

To enable use of SBAS ranging signals in RTK:

$JMODE,SBASNORTK,NO<CR><LF>


$JMODE,SBASNORTK<CR><LF>

Receiver Response:

Response to issuing command to disable/enable the use of SBAS ranging signals in RTK.

Response to issuing command to disable/enable the use of SBAS ranging signals in RTK

$>


If current setting is to disable SBAS ranging the response is:

$>JMODE,SBASNORTK,YES

If current setting is to enable SBAS ranging the response is:

$>JMODE,SBASNORTK,NO

Example:




202

JMODE,SBASR Command

Command Type:


Description:

Enable/disable SBAS ranging or query the current setting

Command Format:

Enable/disable SBAS ranging

To enable SBAS ranging:

$JMODE,SBASR,YES<CR><LF>

To disable SBAS ranging:

$JMODE,SBASR,NO<CR><LF>


$JMODE,SBASR<CR><LF>

Receiver Response:

Response to issuing command to enable/disable SBAS ranging

$>



$>JMODE,SBASR,YES


$>JMODE,SBASR,NO




203

JMODE,STRICTRTK Command

Command Type:


Description:

Use this command to invoke stricter checks on whether RTK fix is declared. Forces float of RTK at 30 seconds of Age-of-Diff

Command Format:

Enable/disable STRICTRTK functionality

To enable STRICTRTK functionality:

$JMODE,STRICTRTK,YES<CR><LF>

To disable STRICTRTK functionality:

$JMODE,STRICTRTK,NO<CR><LF>


$JMODE,SURETRACK<CR><LF>

Receiver Response:

$>




$>JMODE,STRICTRTK,YES


$>JMODE,STRICTRTK,NO


This mode is not saved between power cycles.


204

JMODE,SURETRACK Command

Command Type:


Description:

Enable/disable SureTrack functionality (default is enabled) or query the current setting

Command Format:

Enable/disableSureTrack functionality

To enable SureTrack functionality:

$JMODE,SURETRACK,YES<CR><LF>

To disable SureTrack functionality:

$JMODE,SURETRACK,NO<CR><LF>


$JMODE,SURETRACK<CR><LF>

Receiver Response:

Response to issuing command to enable/disable command:

$>



$>JMODE,SURETRACK,YES


$>JMODE,SURETRACK,NO



205

JMODE,SURVEY Command

Command Type:


Description:

Assure RTK fix is not declared when residual errors exceed 10 cm. Also forces use of GLONASS and prevents SureTrack operation.

Command Format:

Enable/disable continuous time updating

To enable this command

$JMODE,SURVEY,YES<CR><LF>

To disable this command:

$JMODE,SURVEY,NO<CR><LF>


$JMODE,SURVEY<CR><LF>


Receiver Response:

$>



$>JMODE,SURVEY,YES


$>JMODE,SURVEY,NO


This mode is not saved between power cycles (for now)..



206

JMODE,TIMEKEEP Command

Command Type:


Description:

Enable/disable continuous time updating in NMEA 0183 messages when there is no fix (when position is lost) or query the current setting

When position is lost the time is the only parameter in the message that continues to update; all other parameters remain the same.

Command Format:

Enable/disable continuous time updating

To enable continuous time updating:

$JMODE,TIMEKEEP,YES<CR><LF>

To disable continuous time updating:

$JMODE,TIMEKEEP,NO<CR><LF>


$JMODE,TIMEKEEP<CR><LF>

Receiver Response:

Response to issuing command to enable/disable continuous time updating

$>



$>JMODE,TIMEKEEP,YES


$>JMODE,TIMEKEEP,NO




207

JMODE,TUNNEL Command

Command Type:


Description:

Enable/disable faster reacquisition after coming out of a tunnel or query the current setting

Command Format:

Enable/disable faster reacquisition after coming out of a tunnel

To enable faster reacquisition:

$JMODE,TUNNEL,YES<CR><LF>

To disable faster reacquisition:

$JMODE,TUNNEL,NO<CR><LF>


$JMODE,TUNNEL<CR><LF>

Receiver Response:


$>



$>JMODE,TUNNEL,YES


$>JMODE,TUNNEL,NO




208

JMSG99 Command

JMSG99 Command

Command Type:

Vector

Description:

Change the output in the Bin99 message to be from the specified antenna

Format:

$JMSG99,0

where '0' is used view the primary antenna SNR (default)

$JMSG99,1

where '1' is used view the secondary antenna SNR

Receiver Response:

$>

Other: Topic Last Updated: v1.06 / March 10, 2015


209

JNMEA

JNMEA,GGAALLGNSS Command

Command Type:

GLONASS

Description:

Configure the GGA string to include full GNSS information (the number of used GNSS satellites will be included in the GPGGA message) or query the current setting

The GGA message is only supposed to report position and satellite information based on the GPS constellation. The combined constellation position and satellite data should be reported in the GNSS message, but some users with older equipment cannot utilize this message. This command allows users with older equipment that require a GGA message to be able to utilize and take advantage of the larger constellation of GNSS satellites.

Command Format:

Include/exclude full GNSS information in GGA string

To include full GNSS information in GGA string:

$JNMEA,GGAALLGNSS,YES<CR><LF>

To exclude full GNSS information from GGA string:

$JNMEA,GGAALLGNSS,NO<CR><LF>


$JNMEA,GGAALLGNSS<CR><LF>

Receiver Response:

Include/exclude full GNSS information in GGA string:

$>


If set to yes, querying the current setting returns the followin:

>JNMEA,GGAALLGNSS,YES

If set to no, querying the current setting returns the following:


210

$>JNMEA,GGAALLGNSS,NO


Topic Last Updated: v1.07 February 16, 2017


211

$JNMEA,LIMITID,YES Command

Command Type:

General operation and configuration

Description:

Option to limit the range of the station ID field to be 0-1023 in GGA messages.

Command Format:

To enable the station ID limit:

$JNMEA,LIMITID,YES<CR><LF>

To disable the station ID limit:

$JNMEA,LIMITID,NO<CR><LF>


$JNMEA,LIMITID<CR><LF>

Receiver Response:

Response to issuing command to enable/disable station ID limit:

$>


$>JNMEA,LIMITID,[YES/NO]

Example:


By default, the station ID is not limited.



212

$JNMEA,PADHDG Command

Command Type:


Description:

Enable or disable zero-padding of digits before decimal for certain heading output messages. When enabled, this ensures that 3 digits will be printed before the decimal. Applies to the following messages:

3. HDT

4. HDG

5. HDM

6. HPR

7. THS

8. PASHR

Command Format:

To enable padding for heading:

$JNMEA,PADHDG,YES<CR><LF>

To disable padding for heading:

$JNMEA,PADHDG,NO<CR><LF>


$JNMEA,PADHDG<CR><LF>

Receiver Response:

Response to issuing command to enable/disable padding:

$>


$>JNMEA,PADHDG,[YES/NO]

Example:

When padding is disabled, the HEHDT output message will display a heading of 22.5 degrees as:

$HEHDT,22.5,T*CC

When padding is enabled, the same heading would display as:

$HEHDT,022.5,T*CC


Padding is disabled by default.



213

JNMEA,PRECISION Command

Command Type:

GPS, Local Differential and RTK, L-Band

Description:

Specify or query the number of decimal places to output in the GPGGA, GPGLL, and GPGNS messages or query the current setting

Command Format:

Specify the number of decimal places

$JNMEA,PRECISION,x<CR><LF>

where 'x' specifies the number of decimal places from 1 to 8


$JNMEA,PRECISION<CR><LF>

Receiver Response:

Specify the precision:

$>

Query the current setting :

$>JNMEA,PRECISION,x

where 'x' refers to the number of decimal places to output


When using RTK or Atlas high precision services, Hemisphere GNSS recommends you set JNMEA,PRECISION to at least 7 decimal places. High accuracy positioning techniques require at least 7 decimal places to maintain millimeter (mm) accuracy.

This command is the same as JNP.



214

JNP Command

JNP Command

Command Type:

GPS, Local Differential and RTK, L-Band

Description:

Specify or query the number of decimal places to output in the GPGGA, GPGLL, and GPGNS messages or query the current setting

Command Format:

Specify the number of decimal places

$JNP,x<CR><LF>

where 'x' specifies the number of decimal places from 1 to 8


$JNP<CR><LF>

Receiver Response:

Specify the number of decimal places to output :

$>


$>JNP,x

where 'x' refers to the number of decimal places to output


When using RTK or Atlas high precision services, Hemisphere GNSS recommends you set JNP to at least 7 decimal places. High accuracy positioning techniques require at least 7 decimal places to maintain millimeter (mm) accuracy.

This command is the same as JNMEA,PRECISION.



215

JOFF Commands

JOFF Command

Command Type:

GPS.

Description:

Turn off all data messages being output through the current port or other port (or Port C), including any binary messages such as Bin95 and Bin96

Command Format:

$JOFF[,OTHER]<CR><LF>

When you specify the ',OTHER' data field (without the brackets), this command turns off all messages on the other port. There are no variable data fields for this message.

You can issue this command as follows to turn off all messages on Port C:

$JOFF,PORTC<CR><LF>

Receiver Response:

$>


Turn off all data messages being output through all ports, including any binary messages such as Bin95 and Bin 96, see JOFF,ALL command



216

JOFF,ALL Command

Command Type:

GPS

Description:

Turn off all data messages being output through all ports, including any binary messages such as Bin95 and Bin96

$JOFF,ALL<CR><LF>

Command Format:

Receiver Response:

$>


To turn off all data messages being output through a single port, including any binary messages such as Bin95 and Bin96, see the JOFF command



217

JOFF Command

Command Type:

GPS

Description:

Turn off all data messages being output through the curren tport or other port (or Port C), including any binary messages such as Bin95 and Bin96

Command Format:

$JOFF[,OTHER]<CR><LF>

When you specify the ',OTHER' data field (without the brackets), this command turns off all messages on the other port. There are no variable data fields for this message.

You can issue this command as follows to turn off all messages on Port C:

$JOFF,PORTC<CR><LF>

Receiver Response:

$>


To turn off all data messages being output through all ports, including any binary messages such as Bin95 and Bin96, see the JOFF,ALL command



218

JPOS Command

JPOS Command

Command Type:


Description:

Speed up the initial acquisition when changing continents with the receiver or query the receiver for the current position of the receiver (for example, powering up the receiver for the first time in Europe after it has been tested in Canada)

The command enables the receiver to begin the acquisition process for the closest SBAS spot beams. This saves some time with acquisition of the SBAS service. However, use of this message is typically not required because of the quick overall startup time of the receiver module.

Command Format:

Specify the latitude and longitude

$JPOS,lat,lon<CR><LF>

where both 'lat' and 'lon':

• Must be entered in decimal degrees

• Do not need to be more accurate than half a degree


$JPOS<CR><LF>

Receiver Response:

Receiver response when specifying the latitude and longitude

$>

Receiver response when querying the current setting

$>JPOS,LAT,LON





219

JPPS Command

JPPS, WIDTH Command

Command Type:


Description:

Specify the pps width of the receiver or query the current setting

Command Format:

Set the receiver’s specific pps width (microseconds)

$JPPS,WIDTH,r,SAVE<CR><LF>

where:

'r' = specific pps width. The SAVE field is optional. However, if omitted this setting will not survive a power cycle. This setting is not saved with $JSAVE. It must be saved by adding the SAVE field.


Response to issuing command:

$PPS,WIDTH<CR><LF> Receiver Response:


$JPPS,WIDTH,999.996<CR><LF> Example:

Issue the following command to set the pps width to 2.000 on the current port:

$JPPS,WIDTH,2<CR><LF>


$>

If you query the current setting now, the response is:

$JPPS,WIDTH,2.000<CR><LF>


This mode is not saved between power cycles



220

JPPS, FREQ Command

Command Type:


Description:

Specify the pps frequency of the receiver or query the current setting.

Command Format:

Set the receiver's specific pps frequency (in Hz)

$JPPS,FREQ,r,SAVE<CR><LF>

where:

'r' = specific pps frequency

The SAVE field is optional. However, if omitted this setting will not survive a power cycle. This setting is not saved with $JSAVE. It must be saved by adding the SAVE field.



$PPS,FREQ<CR><LF> Receiver Response:

$>


$JPPS,FREQ,1.00<CR><LF> Example:

Issue the following command to set the pps frequency to 2.000 on the current port:

$JPPS,FREQ,2<CR><LF>


$>


$JPPS,FREQ,2.00<CR><LF>


This mode is not saved between power cycles.



221

JPPS, PERIOD Command

Command Type:


Description:

Specify the pps period (in seconds) of the receiver or query the current setting.

Command Format:

Set the receiver’s specific pps period

$JPPS,PERIOD,r<CR><LF>

where:

'r' = specific pps period (inverse of frequency)

The SAVE field is optional. However, if omitted this setting will not survive a power cycle. This setting is not saved with $JSAVE. It must be saved by adding the SAVE field.



$>

$PPS,PERIOD<CR><LF>

Receiver Response:


$JPPS,PERIOD,1.0<CR><LF> Example:

Issue the following command to set the pps period to 2 seconds (0.5 Hz)

$JPPS,PERIOD,2<CR><LF>


$>


$JPPS,PERIOD,2.000<CR><LF>


This mode is not saved between power cycles



222

JPRN,EXCLUDE Command

JPRN,EXCLUDE Command

Note: For advanced users only. Not required for typical operation.

Command Type:

General Operation and Configuration Commands

Description:

For advanced users only.

Exclude GPS and/or other GNSS satellites from being used in the positioning solution or query the current setting

Command Format:

Exclude PRNs from being used in the positioning solution

Exclude GPS and/or other GNSS PRNs:

$JPRN,EXCLUDE[,GPS,x,x,x…][,GLO,y,y,y…][,GAL,z,z,z…]<CR><LF>

where:

• 'x,x,x...' represents the GPS PRNs you want to exclude

• 'y,y,y...' represents the GLONASS PRNs you want to exclude

• ‘z,z,z…’ represents the GALILEO PRNs you want to exclude

Exclude no GNSS PRNs:

$JPRN,EXCLUDE,NONE<CR><LF>

Exclude no GPS PRNs

$JPRN,EXCLUDE,GPS,NONE<CR><LF>

Exclude no GLONASS PRNs:

$JPRN,EXCLUDE,GLO,NONE<CR><LF>

Exclude no GALILEO PRNs:

$JPRN,EXCLUDE,GAL,NONE<CR><LF>


Query all excluded PRNs (GPS and GLONASS):

$JPRN,EXCLUDE<CR><LF>

Query excluded GPS PRNs:

$JPRN,EXCLUDE,GPS<CR><LF>

Query excluded GLONASS PRNs:


223

$JPRN,EXCLUDE,GLO<CR><LF>

Query excluded GALILEO PRNs:

$JPRN,EXCLUDE,GAL<CR><LF>

Receiver Response:

See Example section below

Example:

If you excluded no GPS or GLONASS PRNS and issued the $JPRN,EXCLUDE,GPS<CR><LF> command the response is:

$>JPRN,EXCLUDE,GPS,NONE,GLO,NONE

If you excluded one GPS PRN (22) and one GLONASS PRN (10) and issued the following commands you would see the following corresponding responses:

• Command: $JPRN,EXCLUDE,GPS<CR><LF> Response: $>JPRN,EXCLUDE,GPS,22

• Command: $JPRN,EXCLUDE,GLO<CR><LF> Response: $>JPRN,EXCLUDE,GLO,10

• Command: $JPRN,EXCLUDE<CR><LF>

Response:

$>JPRN,EXCLUDE,GPS,22,GLO,10 Additional Information:



224

$JPRN,IN/EXCLUDE,BDSPHASE3 Command

Command Type:


Description:

Enable or disable tracking of all Beidou Phase-3 satellites.

Command Format:

To include Beidou Phase-3:

$JPRN,INCLUDE,BDSPHASE3<CR><LF>

To exclude Beidou Phase-3:

$JPRN,EXCLUDE,BDSPHASE3<CR><LF>


$JPRN,BDSPHASE3<CR><LF>

Receiver Response:

Receiver response when in/excluding Beidou Phase-3:

$>

Receiver response when querying the current setting:

$>JPRN,[INCLUDE/EXCLUDE],BDSPHASE3

Example:


This setting is automatically saved to non-volatile memory.



225

JQUERY Commands

JQUERY,GUIDE Command

Command Type:


Description:

Query the receiver for its determination on whether or not it is providing suitable accuracy after both the SBAS and GPS have been acquired (up to five minutes)

This feature takes into consideration the download status of the SBAS ionospheric map and also the carrier phase smoothing of the unit.

Command Format:

$JQUERY,GUIDE<CR><LF>

Receiver Response:

If the receiver is ready for use with navigation, or positioning with optimum performance, it returns:

$>JQUERY,GUIDE,YES<CR><LF>

Otherwise, it returns:

$>JQUERY,GUIDE,NO<CR><LF>




226

JQUERY,RTKPROG Command

Command Type:


Description:

Perform a one-time query of RTK fix progress information

Command Format:

$JQUERY,RTKPROG<CR><LF>

As an alternative you can log this as a message using the JASC,PSAT,RTKPROG command.

Receiver Response:

$>JQUERY,RTKPROG,R,F,N,SS1,SS2,SS3,MASK*CC<CR><LF>

where:

Message Component

Description

R 1 = Ready to enter RTK ambiguity fix

0 = Not ready to enter RTK ambiguity fix

F 1 = Receiver running in RTK ambiguity fix mode

0 = Receiver not running in RTK ambiguity fix mode

N Number of satellites used to fix

SS1 summer-1

SS1 must be significantly larger than SS2 and SS3 to enter R=1 mode

SS2 summer-2

SS3 summer-3

MASK Bit mask; bits identify which GNSS observables are being received from base recently (1 = GPS, 3 = GPS + GLONASS)

*CC Checksum


<LF> Line feed

Example:

$>JQUERY,RTKPROG,1,1,23,243.3,0.0,0.0,3




227

JQUERY,RTKSTAT Command

Command Type:


Description:

Perform a one-time query of the most relevant parameters affecting RTK

Command Format:

$JQUERY,RTKSTAT<CR><LF>

As an alternative you can log this as a message using the JASC,PSAT,RTKSTAT command.

Receiver Response:

$>JQUERY,RTKSTAT,MODE,TYP,AGE,SUBOPT,DIST,SYS,NUM,SNR,RSF,BSF,HAG, ACCSTAT,SNT

where

Message Component

Description

MODE Mode (FIX,FLT,DIF,AUT,NO)

TYP Correction type (DFX,ROX,CMR,RTCM3,CMR+,...)

AGE Age of differential corrections, in seconds

SUBOPT Subscription code (see Interpreting the $JK 'Date'/Subscription Codes to determine the meaning of the subscription code)

DIST Distance to base in kilometers

SYS Systems in use:

• GPS: L1, L2, L5

• GLONASS: G1, G2

• Galileo: E5a, E5b, E5a+b, E6

NUM Number of satellites used by each system

SNR Quality of each SNR path, where:

• A is > 20 dB

• B is > 18 dB

• C is > 15 dB

• D is <= 15 dB

RSF Rover slip flag (non zero if parity errors in last 5 minutes, good for detecting jamming and TCXO issues)


228

BSF Base slip flag

HAE Horizontal accuracy estimation

ACCSTAT RTK accuracy status (hex), where:

• 0x1 = no differential or differential too old, for the application

• 0x2 = problems with differential message

• 0x4 = horizontal position estimate poor for the application

• 0x8 = HDOP high, poor satellite geometry

• 0x10 = fewer than 6 L1 sats used

• 0x20 = poor L1 SNRs

• 0x40 = not in RTK mode

• 0x80 = not in RTK mode or RTK only recently solved (< 10secs ago)

• 0x100 = RTK solution compromised, may fail

The status message can be any of the above or any combination of the above. For example, a status message of '047' indicates the following:





SNT Ionospheric scintillation, values are:

• 0 (little or no scintillation - does not adversely affect RTK solution)

• 1-100 (scintillation detected - adversely affects RTK solution)


<LF> Line feed

Example:


229

$>JQUERY,RTKSTAT,FIX,ROX,

1,007F,0.0,(,L1,L2,G1,G2,)(,14,11,9,9,)(,A,A,A,A,),0,1,0.008,000,3


JASC,PSAT,RTKSTAT command

PSAT,RTKSTAT message



230

JQUERY,TEMPERATURE Command

Command Type:


Description:

Query the receiver’s temperature

Command Format::

$JQUERY,TEMPERATURE<CR><LF>

Receiver Response:

$>JQUERY,TEMPERATURE,51.88




231

JRAD Commands

JRAD Command Overview

This topic provides information related to the NMEA 0183 messages accepted by the receiver’s e-Dif application.

The following table provides a brief description of the commands supported by the e-Dif application for its control and operation.

Command Description



JRAD,1,P e-Dif: Record the current position as the reference with which to compute e-Dif corrections. This would be used in relative mode as no absolute point information is specified.

DGPS Base Station: Record the current position as the reference with which to compute Base Station corrections in e-Dif applications only. This would be used in relative mode as no absolute point information is specified

JRAD,2 Forces the receiver to use the new reference point (you normally use this command following a JRAD,1 type command)

JRAD,3 Invoke the e-Dif function once the unit has started up with the e-Dif application active, or, update the e-Dif solution (calibration) using the current position as opposed to the reference position used by the JRAD,2 command

JRAD,7 Turn auto recalibration on or off

JRAD,9 Initialize the Base Station feature and use the previously entered point, either with

$JRAD,1,P or $JRAD,1,LAT,LON,HEIGHT, as the reference with which to compute Base Station corrections in e-Dif applications only. Use this for both relative mode and absolute mode.

JRAD,10 Specify BDS message to be transmitted by base station




232

JRAD,1 Command

Command Type:

e-Dif, DGPS Base Station

Description:

Display the current reference position in e-Dif applications only

Command Format:

$JRAD,1<CR><LF>

Receiver Response:

$>JRAD,1,LAT,LON,HEIGHT

where:

Command Component

Description

LAT Latitude of the reference point in decimal degrees

LON Longitude of the reference point in decimal degrees

HEIGHT Ellipsoidal height of the reference point in meters

Upon startup of the receiver with the e-Dif application running—as opposed to with the SBAS application— no reference position will be present in memory. If you attempt to query for the reference position, the receiver’s response will be:

$>JRAD,1,FAILED,PRESENT LOCATION NOT STABLE

Example:

When you issue the $JRAD,1 command the response will be similar to the following:

$>JRAD,1,51.00233513,-114.08232345,1050.212




233

JRAD,1,LAT,LON,HEIGHT Command

Command Type:

Dif, DGPS Base Station

Description:

Use this command—a derivative of the JRAD,1,P command—when absolute positioning is required in e-Dif applications only

Command Format:

$JRAD,1,lat,lon,height<CR><LF>

where:

Command Component

Description

lat Latitude of the reference point in decimal degrees

lon Longitude of the reference point in decimal degrees

height Ellipsoidal height of the reference point in meters. Ellipsoidal height can be calculated by adding the altitude and the geoidal separation, both available from the GPGGA message.

Example:

$GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4

, 1071.0,M,- 17.8,M,6.0, 0122*48

ellipsoidal height = 1071.0 + (-17.8) = 1053.2 meters

Both latitude and longitude must be entered as decimal degrees. The receiver will not accept the command if there are no decimal places.

Receiver Response:

$>JRAD,LAT,LON,HEIGHT




234

JRAD,1,P Command

Command Type:

Dif, DGPS Base Station

Description:

e-Dif: Record the current position as the reference with which to compute e- Dif corrections. This would be used in relative mode as no absolute point information is specified.

DGPS Base Station:

Record the current position as the reference with which to compute Base Station corrections in e-Dif applications only. This would be used in relative mode as no absolute point information is specified

Command Format:

$JRAD,1,P<CR><LF>

Receiver Response:

$>JRAD,1,OK




235

JRAD,2 Command

Command Type:

e-Dif

Description:

Forces the receiver to use the new reference point

You normally use this command following a JRAD,1 type command.

Command Format:

$JRAD,2<CR><LF>

Receiver Response:

$>JRAD,2,OK




236

JRAD,3 Command

Command Type:

e-Dif

Description:

This command has two primary purposes.

To invoke the e-Dif function once the unit has started up with the e-Dif application active

To update the e-Dif solution (calibration) using the current position as opposed to the reference position used by the JRAD,2 command

Command Format:

$JRAD,3<CR><LF>

Receiver Response:

If the receiver has tracked enough satellites for a long enough period before you issue this command, it will respond with the following. (The tracking period can be from 3 to 10 minutes and is used for modeling errors going forward.)

$>JRAD,3,OK<CR><LF>

If the e-Dif algorithms do not find sufficient data, the receiver responds with:

$>JRAD,3,FAILED,NOT ENOUGH STABLE SATELLITE TRACKS


If you receive the failure message after a few minutes of operation, try again shortly after until you receive the “OK” acknowledgement message. The e-Dif application begins operating as soon as the $>JRAD,3,OK message has been received; however, a you will still need to define a reference position for e-Dif unless relative positioning is sufficient for any needs.



237

JRAD,7 Command

Command Type:

e-Dif

Description:

Turn auto recalibration on or off

Command Format:

$JRAD,7,n

where 'n' is the auto-recalibration variable (0 = Off or 1 = On, 0 is the default)

Receiver Response:

$>JRAD,7,OK




238

JRAD,9 Command

Command Type:

DGPS Base Station

Description:

Initialize the Base Station feature and use the previously entered point,either with $JRAD,1,P or $JRAD,1,LAT,LON,HEIGHT, as the reference with which to compute Base Station corrections in e-Dif applications only. Use this for both relative mode and absolute mode.

Command Format:

To initialize/turn off base station mode

To initialize base station mode and use stored coordinates:

JRAD,9,1,1<CR><LF>

To turn off base station mode:

$JRAD,9,0<CR><LF>

Receiver Response:

$>JRAD,9,OK

(same response for turning base station mode on or off)


The $JASC,RTCM,1 command must be sent to the receiver to start outputting standard RTCM corrections.



239

JRAD,10 Command

Command Type:

DGPS Base Station

Description:

Specify BDS message to be transmitted by base station

Command Format:

Specify BDS message to be transmitted by base station

$JRAD,10,1

Specify BDS message to be not transmitted by base station

$JRAD,10,0

Receiver Response:

$>JRAD,10,OK

(same response for specify BDS to be transmitted or not)




240

JRESET Command

Command Type:


Description:

Reset the receiver to its default operating parameters by:

• Turning off outputs on all ports

• Saving the configuration

• Setting the configuration to its defaults (in following table)

Configuration Setting

Elev Mask 5

Residual limit 10

Alt aiding None

Age of Diff 45 minutes

Air mode Auto

Diff type Default for app

NMEA

precision

5 decimals

COG

smoothing

None

speed smoothing None

WAAS UERE

thresholds

Command Format:

$JRESET[,x]<CR><LF>

where ',x' is an optional field:

• When set to ALL does everything $JRESET does, plus it clears almanacs

•�� When set to BOOT does everything $JRESET,ALL does, plus clears use of the real-time clock at startup,clears use of backed-up ephemeris and almanacs, and reboots the receiver when done

Receiver Response:

$JRESET

$> Saving Configuration. Please Wait...

$>


241

$> Save Complete

CAUTION: $JRESET clears all parameters. For the V101 Series and the LV101 you will have to issue the $JATT, FLIPBRD,YES command to properly redefine the circuitry orientation inside the product once the receiver has reset. Failure to do so will cause radical heading behavior.




242

JRELAY Command

Command Type:


Description:

Send user-defined text out of a serial port

Command Format:

$JRELAY,PORTx,msg<CR><LF>

• 'x' = destination port where the message (MSG) will be sent

• 'msg' = message to be sent

Receiver Response:

$>

Example 1:

Command:

$JRELAY,PORTA,HELLO\nTHERE\n<CR><LF>

Response:

HELLO THERE

$>

Example 2:

The following commands apply to the A101 and A325 antennas. You can configure the A101 and A325 through the serial ports using these commands.

Configure the setup and output of tilt commands as follows (note that all commands are preceded with $JRELAY,PORTC, to direct them through internal Port C):

$JRELAY,PORTC,$JTILT,CALIBRATE[,RESET]

Output the tilt offset values for the X and Y axes. If performing a reset, ensure the A101/A325 is on a flat surface.

$JRELAY,PORTC,$JTILT,TAU[,value]

Output the filter constant for tilt value smoothing.

$JRELAY,PORTC,$JTILT,COMPENSATION[,[ON|OFF],[heightoffset]]

Turn positioning tilt compensation on/off (currently only the GPGGA data log is supported for tilt compensated position output).

$JRELAY,PORTC,$JASC,GPGGA,rate[,port]

Turn tilt compensated GPGGA message on.

$JRELAY,PORTC,$JTILT,COGBIAS[,value]


243

Set a COG bias to be used in the tilt compensation algorithms (for use when the A101/A325 is not mounted with the connector facing the forward direction of travel).

$JRELAY,PORTC,$JASC,INTLT,rate[,port]

or

$JRELAY,PORTC,$JASC,PSAT,INTLT,rate[,port]

Log tilt information from the A101/A325

• Set/query the receiver mode—serial or NMEA2000(commands must be sent over Port A):

$JRELAY,PORTC,$JQUERYMODE

Query the receiver for the current mode

$JRELAY,PORTC,$JSERIALMODE

Set the receiver mode to serial

$JRELAY,PORTC,$JN2KMODE

Set the receiver mode to NMEA2000




244

JRAIM Command

Command Type:

RAIM

Description:

Specify the parameters of the RAIM scheme that affect the output of the PSAT,GBS message or query the current setting

Command Format:

Specify the parameters of the RAIM scheme

$JRAIM,hpr,probhpr,probfalse<CR><LF>

where:

Command Component

Description

hpr Horizontal Protection Radius: notification in the PSAT,GBS message that the horizontal error has exceeded this amount will be received. The acceptable range for this value is 1 to 10,000 m. The default is 10 m.

probhpr Maximum allowed probability that the position computed lies outside the HPR. The acceptable range for this value is 0.001% to 50%. The default is 5%.

probfalse Maximum allowed probability that there is a false alarm (that the position error is reported outside the of the HPR, but it is really within the HPR). The acceptable range for this value is 0.001% to 50%. The default is 1%.


$JRAIM

Receiver Response:

Response to issuing command to specify RAIM scheme parameters

$>


$>JRAIM,HPR,probHPR,probFALSE

Example:

To specify the RAIM scheme parameters as HPR = 8 m, probHPR = 2%, and probFALSE= 0.5% issue the following command:

$JRAIM,8,2,0.5<CR><LF>

If you then query the receiver for the RAIM scheme issue the following command:

$JRAIM<CR><LF>

...and the response will be:

$>JRAIM,8.00,2.0000,0.5000



245

The purpose of the probability of false alarm is to help make a decision on whether to declare a fault or warning in an uncertain situation. The philosophy is to only issue a fault if the user is certain (to within the probability of a false alarm) that the protection radius has been exceeded, else issue a warning.



246

JRTCM3 Commands

JRTCM3,ANTNAME Command

Command Type:


Description:

Specify the antenna name that is transmitted in various RTCM3 messages from the base

Command Format:

Specify the antenna name

$JRTCM3,ANTNAME,name

where name must be an antenna name from the following list: http://www.ngs.noaa.gov/ANTCAL/LoadFile?file=ngs08.003


$JRTCM3,ANTNAME<CR><LF>

Receiver Response:

Response to issuing command to specify the antenna name

$>


$JRTCM3,ANTNAME,name

where name is the previously specified antenna name

Example:

To specify the antenna name as a Hemisphere GNSS A42 antenna (HEMA42), issue the following command:

$JRTCM3,ANTNAME,HEMA42<CR><LF>

If you then issue $JRTCM3,ANTNAME<CR><LF> to query the current setting the response is:

$>JRTCM3,ANTNAME,HEMA42<CR><LF>


See JRTCM3,NULLANT for information on setting the antenna name to a null value (no name)


http://www.ngs.noaa.gov/ANTCAL/LoadFile?file=ngs08.003


247

JRTCM3,EXCLUDE

Command Type:


Description:

Specify RTCM3 message types to not be transmitted (excluded) by base station

Command Format:

Specify the RTCM3 messages to not be transmitted

$JRTCM3,EXCLUDE[,1004][,1005][,1006][,1007][,1008][,1012][,1033][,1104] [,4011][,MSM3][,MSM4]<CR><LF>


$JRTCM3,EXCLUDE<CR><LF>

Receiver Response:

Response to issuing command to excludes pecific RTCM3 messages from being transmitted

$>


$JRTCM3,EXCLUDE[,MSG1][,MSG2]...[,MSGn]<CR><LF>

where MSG1 through MSGn represent each included message type to not be transmitted (excluded)

Example:

Assume all available RTCM3 messages are included (1004, 1005, 1006, 1007, 1008, 1012, 1033). You then issue the following command to exclude message types 1004, 1006, and 1012:

$JRTCM3,EXCLUDE,1004,1006,1012<CR><LF>

If you then issue $JRTCM3,EXCLUDE<CR><LF> to query the current setting the response is:

$>JRTCM3,EXCLUDE,1004,1006,1012<CR><LF>

Correspondingly, if you issue $JRTCM3,INCLUDE<CR><LF> to query the current setting for included messages the response is:

$>JRTCM3,INCLUDE,1005,1007,1008,1033<CR><LF>


See JRTCM3,INCLUDE for more information on including RTCM3 messages for transmission



248

JRTCM3,INCLUDE Command

Command Type:


Description:

Specify RTCM3 message types to be transmitted by base station

Command Format:

Specify the RTCM3 messages to be transmitted

$JRTCM3,INCLUDE[,1004][,1005][,1006][,1007][,1008][,1012][,1033][,1104] [,4011][,MSM3][,MSM4]<CR><LF>


$JRTCM3,INCLUDE<CR><LF>

Receiver Response:

Response to issuing command to include specific RTCM3 message sto be transmitted

$>


$JRTCM3,INCLUDE[,MSG1][,MSG2]...[,MSGn]<CR><LF>

where MSG1 through MSGn represent each included message type to be transmitted

Example:

Assume none of the available RTCM3 messages are included (1004,1005, 1006, 1007, 1008, 1012, 1033). You then issue the following command to include message types 1004, 1006,and 1012

$JRTCM3,INCLUDE,1004,1006,1012<CR><LF>

If you then issue $JRTCM3,INCLUDE<CR><LF> to query the current setting the response is:

$>JRTCM3,INCLUDE,1004,1006,1012<CR><LF>


See JRTCM3,EXCLUDE for more information on including RTCM3 messages for transmission



249

JRTCM3,NULLANT Command

Command Type:


Description:

Specify the antenna name as null (no name) that is transmitted in various RTCM3 messages from the base

Command Format:

Specify the antenna name as null

$JRTCM3,NULLANT<CR><LF>

Response to issuing command to exclude specific RTCM3 messages from being transmitted

Receiver Response:

$>

Example:

Assume you previously specified the antennan ame as a Hemisphere GNSS A42 antenna (HEMA42). If you issue

$JRTCM3,ANTNAME<CR><LF>

to query the current setting the response is:

$>JRTCM3,ANTNAME,HEMA42<CR><LF>

Now send the following command to specify the antenna name as null (no name):

$>JRTCM3,NULLANT<CR><LF>

If you then issue $JRTCM3,ANTNAME<CR><LF> to query the current setting the response is:

$>JRTCM3,ANTNAME,<CR><LF>


See JRTCM3,ANTNAME for information on specifying the antenna name as something other than null



250

JRTK Commands

JRTK Command Overview

The JRTK commands are used to define or query RTK settings.

Command Description

JRTK,1 Show the receiver’s reference position (can issue command to base station or rover)

JRTK,1,LAT,LON,HEIGHT Set the receiver’s reference position to the coordinates you enter (can issuecommand to base station or rover)

JRTK,1,P Set the receiver’s reference coordinates to the current calculated position if you donot have known coordinates for your antenna location (can issue command to base station or rover)

JRTK,5 Show the base station’s transmission status for RTK applications (can issuecommand to base station)

JRTK,5,Transmit Suspend or resume the transmission of RTK (can issue command to base station)

JRTK,6 Display the progress of the base station (can issue command to base station)

JRTK,12 Disable or enable the receiver to go into fixed integer mode (RTK) vs. float mode (L- Dif) - can issue command to rover

JRTK,17 Display the transmitted latitude, longitude, and height of the base station (can issue command to base station or rover)

JRTK,18 Display the distance from the rover to the base station, in meters (can issue command to rover)

JRTK,18,BEARING Display the bearing from the base station to the rover, in degrees (can issue command to rover)

JRTK,18,NEU Display the distance from the rover to the base station and the delta North, East, and Up, in meters (can issue command to rover)

JRTK,28 Set the base station ID transmitted in ROX/DFX/CMR/RTCM3 messages (can issue command to base station)



251

JRTK,1 Command

Command Type:


Description:

Show the receiver’s reference position (can issue command to base station or rover)

Command Format:

$JRTK,1<CR><LF>

Receiver Response:

$JRTK,1,LAT,LON,HEIGHT

where:

Command Component

Description

LAT Latitude of the reference point in decimal degrees

LON Longitude of the reference point in decimal degrees

HEIGHT You must enter HEIGHT as ellipsoidal height in meters.

Ellipsoidal height can be calculated by adding the altitude and the geoidal separation, both available from the GPGGA message.

Example:

$GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4,1071.0,

M,- 17.8,M,6.0, 0122*48


Example: $>JRTK,1,33.55679117,-111.88955483,374.600




252

JRTK,1,LAT,LON,HEIGHT Command

Command Type:


Description:

Set the receiver’s reference position to the coordinates you enter (can issue command to base station or rover)

Command Format:

$JRTK,1,lat,lon,height<CR><LF>

where:

Command Component

Description

lat Latitude of the reference point in decimal degrees

lon Longitude of the reference point in decimal degrees

height You must enter HEIGHT as ellipsoidal height in meters.

Ellipsoidal height can be calculated by adding the altitude and the geoidal separation, both available from the GPGGA message.

Example:

$GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4,1071.0,

M,- 17.8,M,6.0, 0122*48






253

JRTK,1,P Command

Command Type:


Description:

Set the receiver’s reference coordinates to the current calculated position if you do not have known coordinates for your antenna location (can issue command to base station or rover)

$JRTK,1,P<CR><LF>

Command Format:



If you have known coordinates for your antenna location, use the JRTK,1,LAT,LON,HEIGHT command to enter the latitude and longitude (in decimal degrees) and the ellipsoidal height (in meters).



254

JRTK,5 Command

Command Type:


Description:

Show the base station’s transmission status for RTK applications (can issue command to base station)

Command Format:

$JRTK,5<CR><LF>

Receiver Response:

If transmission status is suspended, response is as follows:

$>JRTK,6

If transmission status is not suspended, response is as follows:

$>JRTK,5,1


Also see the JRTK,6 command.



255

JRTK,5,Transmit Command

Command Type:


Description:

Suspend or resume the transmission of RTK (can issue command to base station)

Command Format:

$JRTK,5,transmit<CR><LF>

where "transmit" is 0 (suspend) or 1 (resume)

Receiver Response:

If the transmission status is not suspended and you issue the following command to suspend:

$JRTK,5,0<CR><LF>

the response is as follows:

$>JRTK,5,OK

Similarly, if the transmission status is suspended and you issue the following command to resume:

$JRTK,5,1<CR><LF>

the response is again as follows:

$>JRTK,5,OK




256

JRTK,6 Command

Command Type:


Description:

Display the progress of the base station (can issue command to base station)

Command Format:

$JRTK,6<CR><LF>

Receiver Response:

$JRTK,6,TimeToGo,ReadyTransmit,Transmitting

where:

Response Component

Description

TimeToGo Seconds left until ready to transmit RTK

ReadyTransmit Non zero when configured to transmit and ready to transmit RTK on at least one port. It is a bit mask of the transmitting port, with bit 0 being port A, bit 1 being port B, and bit 2 being port C. It will be equal to "Transmitting" unless transmission has be suspended with $JRTK,5,0.

Transmitting Non-zero when actually transmitting RTK on at least one port. It is a bit mask of the transmitting port, with bit 0 being port A, bit 1 being port B, and bit 2 being port C.

Example:

If the receiver is not ready to transmit:

$>JRTK,6,263,0,0

If the receiver is currently transmitting on Port B:

$>JRTK,6,0,2,2




257

JRTK,12 Command

Warning! Hemisphere GNSS recommends that only advanced users employ this command.

Command Type:


Description:

Disable or enable the receiver to go into fixed integer mode (RTK) vs. float mode (L-Dif) - can issue command to rover

Note:

Requires RTK rover subscription

Command Format:

$JRTK,12,x

where 'x' is:

1 = Allow RTK (recommended, and the default)

0 = Do not allow RTK, stay in L-Dif

Receiver Response:

$>


In high multipath conditions it may be desirable to prevent the rover from obtaining a fixed position. Using $JRTK,12,0 while logging position data is useful for determining the level of multipath present.



258

JRTK,17 Command

Command Type:


Description:

Display the transmitted latitude, longitude, and height of the base station (can issue command to base station or rover)

Command Format:

$JRTK,17<CR><LF>

Receiver Response:

$>JRTK,17,lat,lon,height

Example:

$>JRTK,17,33.55709242,-111.88916894,380.534


Format is similar to JRTK,1,LAT,LON,HEIGHT



259

JRTK,18 Command

Command Type:


Description:

Display the distance from the rover to the base station, in meters (can issue command to rover)

Command Format:

$JRTK,18<CR><LF>

Receiver Response:

$>JRTK,18,d

• 'd' is the baseline distance in meters

• 'm' indicates the units are meters

Example:

$>JRTK,18,13154.520




260

JRTK,18,BEARING Command

Command Type:


Description:

Display the bearing from the base station to the rover,in degrees (can issue command to rover)

Command Format:

$JRTK,18,BEARING<CR><LF>

Receiver Response:

$>JRTK,18,b

• 'b' is the bearing from base to rover in degrees

• 'd' indicates the units are degrees

Example:

$>JRTK,18,20.014




261

JRTK,18,NEU Command

Command Type:


Description:

Display the distance from the rover to the base station and the delta North, East, and Up, in meters can issue command to rover)

Command Format:

$JRTK,18,NEU<CR><LF>

Receiver Response:

$>JRTK,18,d,X,Y,Z

where:

• 'd' is the baseline distance in meters

• 'm' indicates the units are meters

• 'X' is the North delta, in meters

• 'Y' is the East delta, in meters

• 'Z' is the Up delta, in meters

Example:

$>JRTK,18,13154.509,12360.045,4502.139,33.739




262

JRTK,28 Command

Command Type:


Description:

Set the base stationID transmitted in ROX/DFX/CMR/RTCM3 messages (can issue command to base station), where:

• Default is 333

• Range is 0-4095 (except for CMR which is 0-31)

Command Format:

Set the base station ID

$JRTK,28,baseid<CR><LF>

where 'baseid' is the base station ID


$JRTK,28<CR><LF>

Receiver Response:

$>

Example:

To set the base station ID to 123 issue the following command:

$JRTK,28,123<CR><LF>

If the base station ID is 333 and you issue the $JRTK,28<CR><LF>

query the response is:

$>JRTK,28,333




263

JSAVE Command

JSAVE Command

Command Type:


Description:

Send this command after making changes to the operating mode of the receiver

Command Format:

$JSAVE<CR><LF>

Receiver Response:

$> SAVING CONFIGURATION. PLEASE WAIT...

then

$> Save Complete


Ensure that the receiver indicates that the save process is complete before turning the receiver off or changing the configuration further.

No data fields are required. The receiver indicates that the configuration is being saved and indicates when the save is complete.



264

JSHOW Commands

JSHOW Command

Command Type:


Description:

Query the current operating configuration of the receiver

Command Format:

$JSHOW<CR><LF>

Receiver Response:

Use the JSHOW command to provide a complete response from the receiver.

Example (number in parentheses corresponds to line number in table following the response):

$>JSHOW,BAUD,9600 (1)

$>JSHOW,BAUD,9600,OTHER (2)

$>JSHOW,BAUD,9600,PORTC (3)

$>JSHOW,ASC,GPGGA,1.0,OTHER (4)

$>JSHOW,ASC,GPVTG,1.0,OTHER (5)

$>JSHOW,ASC,GPGSV,1.0,OTHER (6)

$>JSHOW,ASC,GPGST,1.0,OTHER (7)

$>JSHOW,ASC,D1,1,OTHER (8)

$>JSHOW,DIFF,WAAS (9)

$>JSHOW,ALT,NEVER (10)

$>JSHOW,LIMIT,10.0 (11)

$>JSHOW,MASK,5 (12)

$>JSHOW,POS,51.0,-114.0 (13)

$>JSHOW,AIR,AUTO,OFF (14)

$>JSHOW,FREQ,1575.4200,250 (15)

$>JSHOW,AGE,1800 (16)

Description of responses:

Line Description

1 Current port is set to a baud rate of 9600

2 Other port is set to a baud rate of 9600


265

3 Port C is set to a baud rate of 9600 (Port C is not usually connected externally on the finished product)

4 GPGGA is output at a rate of 1 Hz from the other port

5 GPVTG is output at a rate of 1 Hz from the other port

6 GPGSV is output at a rate of 1 Hz from the other port

7 GPGST is output at a rate of 1 Hz from the other port

8 D1 is output at a rate of 1 Hz from the other port

9 Current differential mode is WAAS

10 Status of the altitude aiding feature (see the JALT command for information how to set turn altitude aiding on or off)

11 Receiver does not support this feature

12 Elevation mask cutoff angle (in degrees)

13 Current send position used for startup, in decimal degrees

14 Current status of the AIR mode (see the JAIR command for information how to set the AIR mode)

15 Current frequency of the augmentation source in use for the receiver (depending on the configuration of the receiver), followed by the bit rate from the SBAS satellite, and optionally followed by 'AUTO' (only when theAtlas receiver is in ‘auto-tune’ mode)

16 Current maximum acceptable differential age, in seconds (see the JAGE command for information how to set the differential age)

Example:

See "Receiver Response" section above




266

JSHOW,ASC Command

Command Type:


Description:

Query receiver for current ASCII messages being output

Command Format:

$JSHOW,ASC[,x]<CR><LF>

where x is one of the following:

• PORTA

• PORTB

• PORTC

• PORTD

• OTHER - displays

Whatever port you are connected to you do not need to specify that port. For example, if you connected to Port A, the following two commands result in the same response:

$JSHOW,ASC<CR><LF>

$JSHOW,ASC,PORTA<CR><LF>

Receiver Response:

See Example section below

Example:

The first row below shows the response to each individual command for Port A (with and without specifying Port A), Port B, and Port C.

The second row shows the response to the generic $JSHOW command with items similar to the first row responses highlighted.

Command Sent to Receiver Response

$JSHOW,ASC

$JSHOW,ASC,PORTA

$JSHOW,ASC,PORTB

$JSHOW,ASC,PORTC

$>JSHOW,ASC,RTCM,1

$>JSHOW,ASC,RTCM,1

$>JSHOW,ASC,CMR,1,OTHER

$>JSHOW,ASC,D1,1,PORTC


267

$JSHOW $>JSHOW,BAUD,19200

$>JSHOW,ASC,GPGNS,1.00

$>JSHOW,ASC,GPGRS,1.00

$>JSHOW,BIN,1,1.00

$>JSHOW,BIN,2,1.00

$>JSHOW,BIN,89,1

$>JSHOW,BIN,99,1

$>JSHOW,ASC,RTCM,1.0

$>JSHOW,BAUD,19200,OTHER

$>JSHOW,ASC,CMR,1,OTHER

$>JSHOW,BAUD,57600,PORTC

$>JSHOW,ASC,GPGGA,1.00,PORTC

$>JSHOW,ASC,GPGSV,1.00,PORTC

$>JSHOW,ASC,GLGSV,1.00,PORTC

$>JSHOW,BIN,69,1,PORTC

$>JSHOW,BIN,100,1,PORTC

$>JSHOW,ASC,D1,1,PORTC

$>JSHOW,DIFF,RTK

$>JSHOW,ALT,NEVER

$>JSHOW,LIMIT,10.0

$>JSHOW,MASK,5

$>JSHOW,POS,33.6,-112.2

$>JSHOW,AIR,AUTO,NORM

$>JSHOW,SMOOTH,LONG900

$>JSHOW,FREQ,1575.4200,250

$>JSHOW,AGE,2700

$>JSHOW,THISPORT,PORTA

$>JSHOW,MODES,FOREST,BASE,GPSONLY,GLOFIX,SURETRACK




268

JSHOW,BIN Command

Command Type:


Description:

Query receiver for current Bin messages being output

Command Format:

$JSHOW,BIN<CR><LF>

Receiver Response:

$>JSHOW,BIN,B1,B1R,B2,B2R...,Bn,BnR

where:

• B1 is the first Bin message being output B1R is the rate of B1

• B2 is the second Bin message being output B2R is the rate of B2

• Bn is the last Bin message being output BnR is the rate of Bn

Example:

$>JSHOW,BIN,B01,1.00,B02,1.00,B69,1,B80,1,B89,1,B99,1




269

JSHOW,CONF Command

Command Type:


Description: Query receiver for configuration settings

Command Format:

$JSHOW,CONF<CR><LF>

Receiver Response:

$>JSHOW,CONF,AID,AIDVAL,RES,ELEV,MODE,AGE,DIFF

where:

Message Component

Description As Displayed in Example Below This Table

AID Altitude aiding indicator as set by JALT command:

• A = ALWAYS

• N = NEVER

• S = SOMETIMES

• T = SATS

A

AIDVAL Altitude aiding value as by JALT command:

• If AID = N, then AIDVAL = 0.0

• If AID = A, then AIDVAL = height

• If AID = S, then AIDVAL = PDOP threshold

• If AID = T, then AIDVAL = number of sats

404.2

RES Residual limit for the $JLIMIT command 10.0

ELEV Elevation mask cutoff angle (in degrees) as set by JMASK command

5

MODETYPE AIR mode type, A (AUTO) or M (MANUAL), as set by JAIR command

M

MODE AIR mode, LOW or HIGH or NORM, as set by JAIR command

LOW

AGE Maximum acceptable differential age (in seconds) 8100 (259200 is using e-Dif)


270

DIFF Current differential mode as set by JDIFF command:

• T = THIS PORT

• P = PORTC

• O (letter) = OTHER PORT

A

Example:

$>JSHOW,CONF,A,404.2,10.0,5,M,LOW,259200,A




271

JSHOW,GP Command

Command Type:


Description:

Query the receiver for each GP message currently being output through the current port and the update rate for that message

To see output for other ports you must specify that port or OTHER

Command Format:

$JSHOW,GP[,PORTX][,OTHER]<CR><LF>

where:

• ',PORTX' = a port other than the current port, such as Port B or Port C

• ',OTHER' = Port B if the current port is Port A, or Port A if the current port is Port B

Receiver Response:

$>JSHOW,M1,M1R,M2,M2R...,Mn,MnR

where:

• M1 is the first message being output M1R is the rate of M1

• M1 is the first message being output M1R is the rate of M1

• Mn is the last message being output MnR is the rate of Bn

Example:

$>JSHOW,GP,GGA,1.00,GST,1.00




272

JSHOW,THISPORT Command

Command Type:


Description:

Query to determine which receiver port you are connected to

Command Format:

$JSHOW,THISPORT<CR><LF>

Receiver Response:

$>JSHOW,THISPORT,port

where 'port' is the port you are connected to

Example:

Response if you are connected to Port B:

$>JSHOW,THISPORT,PORTB


See JSHOW for information on displaying more configuration information for a receiver



273

JSIGNAL Command

JSIGNAL Command

Command Type:


Description:

Set the GNSS signals that the receiver will attempt to track. Specific signals shown here are only valid for receivers supporting the signal in question.

Command Format:

Specify the signal(s)to be used:

$JSIGNAL,INCLUDE[,L1CA][,L1P][,L2P][,L2C][,G1][,G2][,E1BC][,B1][,B2][,B3] [,E5B][,QZSL1CA][,QZSL2C][,ALL]<CR><LF>

Specify the signal(s) NOT to be used:

$JSIGNAL,EXCLUDE[,L1CA][,L1P][,L2P][,L2C][,G1][,G2][,E1BC][,B1][,B2][,B3] [,E5B][,QZSL1CA][,QZSL2C][,ALL]<CR><LF>


$JSIGNAL,INCLUDE<CR><LF>

Receiver Response:


$>


$>JSIGNAL,INCLUDE[,L1CA][,L1P][,L2P][,L2C][,G1][,G2][,E1BC][,B1][,B2][,B3] [,E5B][,QZSL1CA][,QZSL2C]<CR><LF>




274

JSMOOTH Command

Command Type:

GPS

Description:

Set the carrier smoothing interval (15 to 6000 seconds)or query the current setting

This command provides the flexibility to tune in different environments. The default for this command is 900 seconds (15 minutes) or LONG. A slight improvement in positioning performance (depending on the multipath environment) may occur if you use either the SHORT (300 seconds) or LONG (900 seconds) smoothing interval.

Command Format:

Set the carrier smoothing interval:

To set the carrier smoothing interval to a specific number of seconds issue

the following command:

$JSMOOTH,x<CR><LF>

where 'x' is one of the following:

• Number of seconds

• DEFAULT (equals 900 seconds)

Default for e-Dif is 300 second

• SHORT (equals 300 seconds)

• LONG (equals 900 seconds)


$JSMOOTH<CR><LF>

Receiver Response:

Receiver response when setting the carrier smoothing interval

$>

Receiver response when querying the current carrier smoothing interval

$>JSMOOTH,x

where 'x' is the word 'SHORT' or 'LONG' followed by the number of seconds used:

• SHORT precedes the number of seconds for any setting less than 900 seconds

• LONG precedes the number of seconds for any setting greater than or equal to 900 seconds

Example:

To set the carrier smoothing interval to 750 seconds issue the following command:

$JSMOOTH,750<CR><LF>


275

...and if you then query the receiver using $JSMOOTH the response is:

$JSMOOTH,SHORT750

To set the carrier smoothing interval to 300 seconds (5 minutes) issue the following command:

$JSMOOTH,SHORT<CR><LF>

To set the carrier smoothing interval to 900 seconds (15 minutes) issue the following command:

$JSMOOTH,LONG<CR><LF>


If you are unsure of the best value for this setting, leave it at the default setting of LONG (900 seconds).




276

JSYSVER Command

Command Type:


Description:

Returns the boot loader version from the GPS card

Command Format:

$JSYSVER<CR><LF>

Receiver Response:

$>SYSVER,v

where 'v' is the boot loader version

Example:

Response when the boot loader version is 75

$>SYSVER,75




277

JT Command

Command Type:


Description:

Query the receiver for its GPS engine type

Command Format:

$JT<CR><LF>

Receiver Response:

$>JT,xxxx

where xxxx indicates the GPS engine and mode:

JT Command Response (xxxx)

GPS Engine Mode

DF2b Eclipse WAAS, RTK Base

DF2g Eclipse L-band

DF2r Eclipse RTK Rover

DF3g Eclipse II WAAS, RTK Base

DF3i Eclipse II e-Dif

DF3r Eclipse II RTK Rover

MF3g miniEclipse WAAS, RTK Base

MF3i miniEclipse e-Dif

MF3r miniEclipse RTK Rover

SX2a Crescent Vector WAAS RTK

SX2b Crescent Base

SX2g Crescent WAAS

SX2i Crescent e-Dif

SX2r Crescent Rover

Example:

When you issue the $JT<CR><LF>command a typical responsemay be:

$>JT,DF2b,MX31rev=28DF2b indicates an Eclipse receiver with WAAS and RTK Base functionality.

Note:


278

MX31rev=28 is the processor type and only appears as part of the Eclipse receiver response. You can disregard the processor type as the text that precedes it (DF2b in this example) provides the requested information (GPS engine and mode).




279

JTAU Commands

JTAU Command Overview

The JTAU command is used to set the time constants for specific parameters for Crescent, Crescent Vector, and Eclipse products.

Command Description

JTAU,COG Set the course over ground time (COG) constant and query the current setting

JTAU,SPEED Set the speed time constant and query the current setting



280

JTAU,COG Command

Note:

The JATT,COGTAU command provides identical functionality but works only with Crescent Vector products.

Command Type:

GPS

Description:

Set the course over ground (COG) time constant(0.00 to 3600.00 seconds) or query the current setting.

This command allows you to adjust the level of responsiveness of the COG measurement provided in the GPVTG message. The default value is 0.00 seconds of smoothing. Increasing the COG time constant increases the level of COG smoothing.

Command Format:

Set the COG time constant

$JTAU,COG,tau<CR><LF>

where 'tau' is the new COG time constant that falls within the range of 0.00 to 200.1 seconds

The setting of this value depends upon the expected dynamics of the Crescent. If the Crescent will be in a highly dynamic environment, this value should be set lower because the filtering window would be shorter, resulting in a more responsive measurement. However, if the receiver will be in a largely static environment, this value can be increased to reduce measurement noise.


$JTAU,COG<CR><LF>

Receiver Response:

Receiver response when setting the COG time constant

$>

Receiver response when querying the current COG time constant

$>JTAU,COG,tau<CR><LF>

Example:

To set the COG time constants 2 seconds issue the following command:

$JTAU,COG,2<CR><LF>


You can use the following formula to determine the COG time constant: tau (in seconds) = 10 / maximum rate of change of course (in °/s)




281

JTAU,SPEED Command

Command Type:

GPS

Description:

Set the speed time constant (0.00 to 3600.00 seconds)or query the current setting

This command allows you to adjust the level of responsiveness of the speed measurement provided in the GPVTG message. The default value is 0.00 seconds of smoothing. Increasing the speed time constant increases the level of speed measurement smoothing.

Command Format:

Set the speed time constant:

$JTAU,SPEED,tau<CR><LF>

where 'tau' is the new speed time constant that falls within the range of 0.0 to 200.2 seconds

The setting of this value depends upon the expected dynamics of the receiver. If the receiver will be in a highly dynamic environment, you should set this to a lower value, since the filtering window will be shorter, resulting in a more responsive measurement. However, if the receiver will be in a largely static environment, you can increase this value to reduce measurement noise.


$JTAU,SPEED<CR><LF>

Receiver Response:

Receiver response when setting the speed time constant

$>

Receiver response when querying the current speed time constants

$>JTAU,SPEED,tau<CR><LF>

Example:

To set the speed time constant as 4.6 seconds issue the following command:

$JTAU,SPEED,4.6<CR><LF>


You can use the following formula to determine the COG time constant (Hemisphere GNSS recommends testing how the revised value works in practice): tau (in seconds) = 10 / maximum acceleration (in m/s2)




282

JTIMING Commands

$JTIMING,ATLASCLOCK,YES/NO Command

Command Type:


Description:

Enable/disable receiver clock steering by the Atlas solution.

Command Format:

To enable Atlas clock steering:

$JTIMING,ATLASCLOCK,YES<CR><LF>

To disable Atlas clock steering:

$JTIMING,ATLASCLOCK,NO<CR><LF>


$JTIMING,ATLASCLOCK<CR><LF>

Receiver Response:

Response to issuing command to enable/disable Atlas clock steering:

$>


$>JTIMING,ATLASCLOCK,[YES/NO]

Example:


Clock steering by Atlas is disabled by default.



283

$JTIMING,MANUALMARK[,yes/no] Command

Command Type:


Description:

The $JTIMING,MANUALMARK[,yes/no] command is used to enable or disable manual mark.

Command Format:

To enable manual mark:

$JTIMING,MANUALMARK,YES<CR><LF>

To disable manual mark:

$JTIMING,MANUALMARK,NO<CR><LF>


$JTIMING,MANUALMARK<CR><LF>

Receiver Response:

Response to issuing command to enable/disable manual mark:

$>


$>JTIMING,MANUALMARK,[YES/NO]

Example:


Manual mark mode is enabled by default.



284

$JTIMING,HALTCLOCKSTEER,YES Command

Command Type:


Description:

The $JTIMING,HALTCLOCKSTEER command is used to prevent GNSS clock steering, for use with external atomic ref clocks.

Command Format:

To disable GNSS clock steering:

$JTIMING,HALTCLOCKSTEER,YES<CR><LF>

To enable GNSS clock steering:

$JTIMING,HALTCLOCKSTEER,NO<CR><LF>


$JTIMING,HALTCLOCKSTEER<CR><LF>

Receiver Response:

Response to issuing command to enable/disable GNSS clock steering:

$>


$>JTIMING,HALTCLOCKSTEER,[YES/NO]

Example:


GNSS clock steering is enabled by default. This command can be used to prevent clock steering, for example, if using an external atomic reference clock.



285

PCSI Commands

PCSI,1 Command (Status Line A, Channel 0 command)

Command Type:

Beacon Receiver

Description:

Hemisphere GNSS proprietary NMEA 0183 query

Query the SBX for a selection of parameters related to the operational status of its primary channel

Command Format:

$PCSI,1<CR><LF>

Receiver Response:

$PCSI,ACK,1

$PCSI,CS0,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T,G

where:

Response Component

Description

CS0 Channel 0

PXXX-Y.YYY Resident SBX firmware version

SN SBX receiver serial number

fff.f Channel 0 current frequency

M Frequency mode (A = automatic, M = manual, D = database)

ddd MSK bit rate

R RTCM rate mode (A = automatic, M = manual, D = database)

SS Signal strength

SNR Signal-to-noise ratio

MTP Message throughput

WER Word Error Rate - Percentage of bad 30-bit RTCM words in the last 25 words

ID Beacon ID to which the receiver’s primary channel is tuned

H Health of the tuned beacon [0-7]

T $PCSI,1 status output period [0-99]

G AGC gain in dB (0 to 48 db)


286


Optionally you can modify the Status Line A query to request the output of the response message once every period at a specified output rate. It has the following format, where 'T' is the output period in seconds:

$PCSI,1,T<CR><LF>

The response will be:

$PCSI,ACK,1

$PCSI,CS0,PXXXY.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T,G

You can stop the output of the message by either of the following:

· Cycling receiver power

· Issuing the $PCSI,1<CR><LF> query without the output period field

The response message has the same format as discussed above. In addition to this modified version of the Status Line A command, an additional 'S' field may be placed after the 'T' field, resulting in the following command:

$PCSI,1,T,S<CR><LF>

The 'S' field is not a variable and specifies that the output of the Status Line A message should continue after the power has been cycled. To return the receiver to the default mode (in which message output ceases after receiver power is cycled) send the $PCSI,1<CR><LF> query to the receiver.

You may send the $PCSI,1 query through either serial port for reporting of the full status of the primary receiver channel. The query response is returned to the port from which you issued the command. When querying the primary receiver channel using the secondary serial port, no interruptions in RTCM data output will occur on the primary port provided the SBX has acquired a valid beacon.

The response is different depending on whether you are connected directly to the SBX-4 or not.

· If connected directly (by hardware or JCONN), the response will be both an acknowledgement as well as the full PCSI,1 message.

· If connected through a Crescent receiver (such as the R110) you may see the full PCSI,1 message. Consider PCSI,1,1 to generate periodic output.



287

PCSI,1,1 Command (Beacon Status command)

Command Type:

Beacon Receiver

Description:

Obtain PCSI,CS0 beacon status data from an SBX engine when interfaced to the receiver Port D. When you send this command through either Port A, B, or C it is automatically routed to Port D. The resulting PCSI,CS0 message is returned to the same port from which the command was sent at the desired rate.

Command Format:

$PCSI,1,1<CR><LF>

Receiver Response:

$PCSI,CS0,Pxxx-y.yyy,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T,G

where:

Response Component

Description

CS0 Channel 0





ddd MSK bit rate


SS Signal strength

SNR Signal-to-noise ratio


WER Word Error Rate - Percentage of bad 30-bit RTCM words in the last 25 words

ID Beacon ID to which the receiver’s primary channel is tuned

H Health of the tuned beacon (0-7)

T $PCSI,1 status output period (0-99)

G AGC gain in, dB (0 to 48)

Example:

$PCSI,CS0,P030-0.000,19001,313.0,D,100,D,18,8,80,0,63,0,1,48


288




289

PCSI,2 Command (Status Line B, Channel 1 command)

Command Type:

Beacon Receiver

Description:


Query the SBX to output a selection of parameters related to the operational status of its secondary channel

Command Format:

$PCSI,2<CR><LF>

Receiver Response:

$PCSI,ACK,2

$PCSI,CS1,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T

where:

Response Component

Description

CS1 Channel 1





ddd MSK bit rate


SS Signal strength

SNR Signal to noise ratio


WER Word error rate - Percentage of bad 30-bit RTCM words in the last 25 words

ID Beacon ID to which the receiver’s secondary channel is tuned

H Health of the tuned beacon (0-7)

T $PCSI,1 status output period (0-99)

Example:

$PCSI,ACK,2


290

$PCSI,CS1,P030-0.004,770737,291.0,D,200,D,-7,2,0,100,1024,8,0


Optionally you can modify the Status Line B query to request the output of the response message once every period. It has the following format, where T is the output period in seconds:

$PCSI,2,T<CR><LF>

The response will be:

$PCSI,ACK,2

$PCSI,CS0,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T

The response message has the same format as discussed above. The Status Line B message output cannot be set to remain active after the power of the SBX has been cycled.

The $PCSI,2 query may be sent through the either serial port for reporting of the full status of the secondary receiver channel. The response to the query is returned to the port from which the command was issued. When querying the secondary receiver channel using the secondary serial port, no interruptions in RTCM data output will occur on the primary port provided that SBX has acquired a valid beacon.



291

PCSI,3,1 Command (Receiver Search Dump command)

Command Type:

Beacon Receiver

Description:


Query the SBX to output the search information used for beacon selection in Automatic Beacon Search mode. The output has three frequencies per line.

Command Format:

$PCSI,3,1<CR><LF>

Receiver Response:

$PCSI,ACK,3,1

$PCSI,tag1,freq1,ID1,chan1,snr1,ss1,tag2,freq2,ID2,chan2,snr2,ss2, tag3,freq3,ID3,chan3,snr3,ss3

where:

Response Component

Description

tag Channel number with a range of 1 to 84

freq Channel frequency (kHz * 10)

ID Beacon ID

chan Channel information

snr SNR (dB)

ss Signal Strength (dBuV/m)

Example:

$PCSI,ACK,3,1

$PCSI,01,2835,209,0E,00,-0009,02,2840,339,0E,00,- 0012,03,2845,006,0E,00,0009

$PCSI,04,2850,342,0E,00,-0010,05,2855,547,0E,00,-0005,06,2860,109,0E,00,- 0011

$PCSI,07,2865,188,0E,00,-0007,08,2870,272,0E,00,-0004,09,2875,682,0E,00,- 0006

$PCSI,10,2880,645,0E,00,-0007,11,2885,256,0E,00,-0009,12,2890,000,06,00,- 0012

$PCSI,13,2895,132,0E,00,-0009,14,2900,281,0E,00,-0010,15,2905,634,0E,00,- 0008

$PCSI,16,2910,172,0E,00,-0007,17,2915,006,0E,00,-0009,18,2920,546,0E,00,- 0014

$PCSI,19,2925,358,0E,00,-0008,20,2930,479,0E,00,-0009,21,2935,358,0E,00,-

0011

$PCSI,22,2940,853,0E,00,-0005,23,2945,588,0E,00,-0015,24,2950,210,0E,00,- 0011

$PCSI,25,2955,000,06,00,-0011,26,2960,663,0E,00,-0010,27,2965,596,0E,00,- 0009


292

$PCSI,28,2970,000,06,00,-0009,29,2975,917,0E,00,-0009,30,2980,000,06,00,- 0016

$PCSI,31,2985,343,0E,00,-0013,32,2990,546,0E,00,-0010,33,2995,546,0E,00,- 0010

$PCSI,34,3000,172,0E,00,-0014,35,3005,006,0E,00,- 0011,36,3010,1006,0E,00,-0009

$PCSI,37,3015,006,0E,00,-0015,38,3020,300,0E,00,-0013,39,3025,277,0E,00,- 0100

$PCSI,40,3030,479,0E,00,-0010,41,3035,006,0E,00,-0012,42,3040,050,0E,00,- 0008

$PCSI,43,3045,000,06,00,-0014,44,3050,172,0E,00,-0013,45,3055,000,06,00,- 0011

$PCSI,46,3060,000,06,00,-0011,47,3065,000,06,00,-0014,48,3070,000,06,00,- 0010

$PCSI,49,3075,000,06,00,-0012,50,3080,006,0E,00,-0015,51,3085,000,06,00,- 0015

$PCSI,52,3090,300,0E,00,-0007,53,3095,000,06,00,-0013,54,3100,000,06,00,- 0013

$PCSI,55,3105,000,06,00,-0012,56,3110,127,0E,00,-0013,57,3115,000,06,00,- 0012

$PCSI,58,3120,596,0E,00,-0012,59,3125,051,0E,00,-0009,60,3130,000,06,00,- 0011

$PCSI,61,3135,213,0E,00,-0008,62,3140,000,06,00,-0011,63,3145,000,06,00,- 0015

$PCSI,64,3150,302,0E,00,-0008,65,3155,000,06,00,-0009,66,3160,000,06,00,- 0003

$PCSI,67,3165,000,06,00,-0013,68,3170,000,06,00,- 0011,69,3175,612,0E,01,0000

$PCSI,70,3180,000,06,00,-0015,71,3185,000,06,00,-0008,72,3190,000,06,00,- 0009

$PCSI,73,3195,000,06,00,0011,74,3200,1002,0E,01,-0002,75,3205,067,0E,00,- 0008

$PCSI,76,3210,001,0E,00,-0008,77,3215,000,06,00,-0009,78,3220,132,0E,00,- 0009

$PCSI,79,3225,000,06,00,-0010,80,3230,339,0E,00,-0013,81,3235,000,06,00,- 0011

$PCSI,82,3240,000,06,00,-0010,83,3245,202,0E,00,-0007,84,3250,006,0E,00,- 0002




293

PCSI,3,2 Command (Ten Closest Stations command)

Command Type:

Beacon Receiver

Description:

Display the ten closest beacon stations

Command Format:

$PCSI,3,2<CR><LF>

Receiver Response:

$PCSI,ACK,3,2

$PCSI,3,2,StationID,name,freq,status,time,date,distance,health,WER

$PCSI,3,2, ...

$PCSI,3,2, ...

$PCSI,3,2, ...

$PCSI,3,2, ...

...

where:

Response Component

Description

StationID Specific ID number for beacon stations (appears in the last field of the GPGGA message)

name Name of station

freq Frequency, in kHz (scaled by 10), on which the station is transmitting. In the first line of the Example below, 2870 indicates 287.0 kHz.

status 0 (operational), 1 (undefined), 2 (no information), 3 (do not use)

time Not implemented. Currently displayed at 0

date Not implemented. Currently displayed at 0

distance Calculated in nautical miles

health -1 (not updated), 8 (undefined), 0-7 (valid range)

WER -1 (not updated), 0-100 (valid range)


294

Example $PCSI,ACK,3,3

$PCSI,3,2, 849,Polson

MT,2870,0,210,0,0,-1,-1

$PCSI,3,2, 848,Spokane

$PCSI,3,2, 907,Richmond

WA,3160,0,250,0,0,-1,-1

BC,3200,0,356,0,0,-1,-1

$PCSI,3,2, 888,Whidbey Is. WA,3020,0,363,0,0,-1,-1

$PCSI,3,2, 887,Robinson Pt. WA,3230,0,383,0,0,-1,-1

$PCSI,3,2, 874,Billings MT,3130,0,389,0,0,-1,-1

$PCSI,3,2, 871,Appleton WA,3000,0,420,0,0,-1,-1

$PCSI,3,2, 908,Amphitrite Pt BC,3150,0,448,0,0,-1,-1

$PCSI,3,2, 886,Fort Stevens OR,2870,0,473,0,0,-1,-1

$PCSI,3,2, 909,Alert Bay BC,3090,0,480,0,0,-1,-1




295

PCSI,3,3 Command (Station Database command)

Command Type:

Beacon Receiver

Description:

Display the contents of the beacon station database

Command Format:

$PCSI,3,3<CR><LF>

Receiver Response:

$PCSI,ACK,3,3

$PCSI,3,3,IDref1,IDref2,StationID,name,freq,lat,long,datum,status

$PCSI,3,3, ...

$PCSI,3,3, ...

$PCSI,3,3, ...

$PCSI,3,3, ...

...

where:

Response Component

Description

IDref1 Beacon reference ID (primary)

IDref2 Beacon reference ID (secondary)

StationID Specific ID number for beacon stations (appears in the last field of the GPGGA message)

name Name of station

freq Frequency, in kHz (scaled by 10), on which the station is transmitting. In the first line of the Example below, 2950 indicates 295.0 kHz.

lat Scaled by 364 (+ve indicates N and -ve indicates S)

long Longitude is scaled by 182 (+ve indicates N and -ve indicates S)

datum 1 (NAD83), 0(WGS84)

status 0 (operational), 1(undefined), 2 (no information), 3, (do not use)

Example


296

$PCSI,ACK,3,3

$PCSI,3,3,0282,0283,0891,Level Island

AK,2950,20554,-24221,1,0

$PCSI,3,3,0306,0307,0906,Sandspit BC,3000,19377,-23991,1,0

$PCSI,3,3,0278,0279,0889,Annette Is. AK,3230,20044,-23951,1,0

$PCSI,3,3,0300,0301,0909,Alert Bay BC,3090,18412,-23099,1,0

$PCSI,3,3,0302,0303,0908,Amphitrite Pt BC,3150,17806,-22850,1,0

$PCSI,3,3,0270,0271,0885,C. Mendocino CA,2920,14718,-22641,1,0

$PCSI,3,3,0272,0273,0886,Fort Stevens OR,2870,16817,-22559,1,0

$PCSI,3,3,0304,0305,0907,Richmond BC,3200,17903,-22407,1,0

$PCSI,3,3,0276,0277,0888,Whidbey Is WA,3020,17587,-22331,1,0




297

PCSI,4 Command (Wipe Search command)

Description:

Clear search history in Auto mode

Command Format:

$PCSI,4<CR><LF>

Receiver Response:

$PCSI,ACK,4

Example:




298

PCSI,5 Command (Set Baud Rates command)

Command Type:

Beacon Receiver

Description:

Set the baud rate of Port0 and Port1

The baud rate for Port0 is saved for next power up; however, the baud rate for Port1 always defaults to 4800.

Note:

This command applies when you connect directly to a beacon board, as this command has no effect when a beacon board is integrated with a GNSS receiver.

Command Format:

$PCSI,5,portrate0,portrate1<CR><LF>

where:

• portrate0 = desired baud rate for Port0

• portrate1 = desired baud rate for Port1

Receiver Response:

$>

Example:

Additional Information;



299

PCSI,6 Command (Reboot command)

Command Type:

Beacon Receiver

Description:

Reboot SBX receiver

Command Format:

$PCSI,6<CR><LF>

Receiver Response:

See example below.

Example:

When sending this command your response will appear similar to the below:

$PCSI,S/N:00019001

$PCSI,FCFGcrc,B5E5,CCFGcrc,B5E5,Pass

$PCSI,FGLBcrc,19BC,CGLBcrc,19BC,Pass

$PCSI,FLSHcrc,0531 Pass

$PCSI,FSTAcrc,56C3 Base,2FB2,B077 Additional Information:



300

PCSI,7 Command (Swap Modes command)

Command Type:

Beacon Receiver

Description:

Swap modes on the receiver (allowing you to output RTCM and PCSI on the desired ports—Port 0 and Port 1)

Note:

This command applies when you connect directly to a beacon board, as this command has no effect when a beacon board is integrated with a GNSS receiver.

Command Format:

$PCSI,7,mode<CR><LF>

where mode is:

• 1 = PCSI on Port1 and RTCM on Port0

• 2 = PCSI on Port0 and RTCM on Port1

Receiver Response:

$PCSI,ACK,7,mode

For example, when sending the following command...

$PCSI,7,1<CR><LF>

... the response is:

$PCSI,ACK,7,1

Example:




301

Bin Messages Binary Messages Code This section provides the code for the binary messages used by Hemisphere GNSS.

// BinaryMsg.h

#ifndef __BinaryMsg_H__

#define __BinaryMsg_H__

#ifdef __cplusplus

extern "C" {

#endif

/*

* Copyright (c) 2020 Hemisphere GNSS, Inc.

* All Rights Reserved. *

* Use and copying of this software and preparation of derivative works based upon this software are permitted. Any copy of this software or of any derivative work must include the above copyright notice, this paragraph and the one after it. Any distribution of this software or derivative works must comply with all applicable laws. This software is made available AS IS, and COPYRIGHT OWNERS DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE, AND NOTWITHSTANDING ANY OTHER PROVISION CONTAINED HEREIN, ANY LIABILITY FOR DAMAGES RESULTING FROM THE SOFTWARE OR ITS USE IS EXPRESSLY DISCLAIMED, WHETHER ARISING IN CONTRACT, TORT (INCLUDING NEGLIGENCE) OR STRICT LIABILITY, EVEN IF COPYRIGHT OWNERS ARE ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.

*/

//xx #if defined(WIN32) || (__ARMCC_VERSION>=300441) // all compilers that we use today

#pragma pack(push)

#pragma pack(4)

//#endif

/****************************************************/

/* SBinaryMsgHeader */

/****************************************************/

typedef struct

{

char m_strSOH[4]; /* start of header ($BIN) */

unsigned short m_byBlockID; /* ID of message (1,2,99,98,97,96,95,94,93 or 80 ) */

unsigned short m_wDataLength; /* 52 16,304,68,28,300,128,96,56, or 40 */

} SBinaryMsgHeader;

typedef struct


302

{

unsigned long ulDwordPreamble; /* 0x4E494224 = $BIN */

unsigned long ulDwordInfo; /* 0x00340001 or 0x00100002 or 0x01300063 */

} SBinaryMsgHeaderDW; /* or 0x00440062 or 0x001C0061 or 0x012C0060 */

/* or 0x0080005F or 0x0060005E or 0x0038005D */

/* or 0x00280050 */

#define BIN_MSG_PREAMBLE 0x4E494224 /* $BIN = 0x4E494224 */

#define BIN_MSG_HEAD_TYPE1 0x00340001 /* 52 = 0x34 */





#define BIN_MSG_HEAD_TYPE6 0x000C0006 /* 12 = 0x0C */

#define BIN_MSG_HEAD_TYPE99 0x01300063 /* 99 = 0x63, 304 = 0x130 */ //GPS

#define BIN_MSG_HEAD_TYPE108 0x0174006C /* 108 = 0x6C, 372 = 0x174 = total size in bytes -8 -2 -2 */

#define BIN_MSG_HEAD_TYPE104 0x01180068 /* 104 = 0x68, 280 = 0x118 */



#define BIN_MSG_HEAD_TYPE101 0x01C00065 /* 101 = 0x65, 448 = 0x1C0 */



#define BIN_MSG_HEAD_TYPE97 0x001C0061 /* 97 = 0x61, 28 = 0x1C */

#define BIN_MSG_HEAD_TYPE96 0x012C0060 /* 96 = 0x60, 300 = 0x12C */ //GPS L1CA phase observables

#define BIN_MSG_HEAD_TYPE95 0x0080005F /* 95 = 0x5F, 128 = 0x80 */ //GPS L1CA ephemeris data

#define BIN_MSG_HEAD_TYPE94 0x0060005E /* 94 = 0x5E, 96 = 0x60 */

#define BIN_MSG_HEAD_TYPE93 0x0038005D /* 93 = 0x5D, 56 = 0x38 */

#define BIN_MSG_HEAD_TYPE92 0x0034005C /* 92 = 0x5C, 52 = 0x34 */

#define BIN_MSG_HEAD_TYPE91 0x0198005B /* 91 = 0x5B, 408 = 0x198 = total size in bytes -8 -2 -2*/



#define BIN_MSG_HEAD_TYPE76 0x01C0004C /* 76 = 0x4C, 448 = 0x1C0 = total size in bytes -8 -2 -2*/

#define BIN_MSG_HEAD_TYPE71 0x01C00047 /* 71 = 0x47, 448 = 0x1C0 = total size in bytes -8 -2 -2*/

#define BIN_MSG_HEAD_TYPE61 0x0140003D /* 61 = 0x3D, 320 = 0x140 */

#define BIN_MSG_HEAD_TYPE62 0x0028003E /* 62 = 0x3E, 40 = 0x28 */


303



#define BIN_MSG_HEAD_TYPE69 0x012C0045 /* 69 = 0x45, 300 = 0x12C */ //Glonass

#define BIN_MSG_HEAD_TYPE59 0x0100003B /* 59 = 0x3B, 256 = 0x100 */ //GPS L2C

#define BIN_MSG_HEAD_TYPE49 0x012C0031 /* 49 = 0x31, 300 = 0x12C */ //Galileo Channel Data for SLXMON

#define BIN_MSG_HEAD_TYPE45 0x0080002D /* 45 = 0x2D, 128 = 0x80 */ //Galileo subframe words --- similar to GPS

#define BIN_MSG_HEAD_TYPE44 0x0038002C /* 44 = 0x2C, 56 = 0x38 */ //Galileo time offsets

#define BIN_MSG_HEAD_TYPE42 0x0034002A /* 42 = 0x2A, 52 = 0x34 */

#define BIN_MSG_HEAD_TYPE30 0x0080001E /* 30 = 0x1E, 208 = 0xD0 */ //BeiDou subframe words --- similar to GPS


#define BIN_MSG_HEAD_TYPE34 0x00200022 /* 34 = 0x22, 32 = 0x20 */ //BeiDou time offsets

#define BIN_MSG_HEAD_TYPE35 0x00800023 /* 35 = 0x23, 128 = 0x80 */ //BeiDou subframe words --- similar to GPS

#define BIN_MSG_HEAD_TYPE36 0x01500024 /* 36 = 0x24, 336 = 0x150 */ //BeiDou phase observables

#define BIN_MSG_HEAD_TYPE39 0x019C0027 /* 39 = 0x27, 412 = 0x19C */ //BeiDou Channel Data for SLXMON


#define BIN_MSG_HEAD_TYPE25 0x00800019 /* 25 = 0x19, 128 = 0x80 */ //QZSS L1CA ephemeris data

#define BIN_MSG_HEAD_TYPE16 0x01380010 /* 16 = 0x10, 312 = 0x138 */ //GNSS phase observables

#define BIN_MSG_HEAD_TYPE19 0x01780013 /* 19 = 0x13, 376 = 0x178 */ //Generic Channel Data for SLXMON

#define BIN_MSG_HEAD_TYPE10 0x0194000A /* 10 = 0xA, 404 = 0x194 = total size in bytes -8 -2 -2*/

//#define BIN_MSG_HEAD_TYPE12 0x0194000C /* 12 = 0xC, 404 = 0x194 = total size in bytes -8 -2 -2*/

#define BIN_MSG_HEAD_TYPE12 0x019A000C /* 12 = 0xC, 410 = 0x19A = total size in bytes -8 -2 -2*/ //RFR_160506 -- added 6 bytes

#define BIN_MSG_HEAD_TYPE13 0x0194000D /* 13 = 0xD, 404 = 0x194 = total size in bytes -8 -2 -2*/

#define BIN_MSG_HEAD_TYPE17 0x02100011 /* 17 = 0x11, 528 = 0x210 = total size in bytes -8 -2 -2*/

//#if defined(_RXAIF_PLOT_MESSAGES_)

#define BIN_MSG_HEAD_TYPE11 0x0064000B /* 11 = 0x0B, 100 = 0x64 = total size(112) in bytes -8 -2 -2*/

//#endif

#define BIN_MSG_HEAD_TYPE209 0x014C00D1 // 209 = 0xD1, 332 = 0x14C

#define BIN_MSG_HEAD_TYPE122 0x0050007A //122 = 0x7A, 80 = 50

#endif

#define BIN_MSG_CRLF 0x0A0D /* CR LF = 0x0D, 0x0A */

#define CHANNELS_12 12

#define CHANNELS_20 20


304

#define CHANNELS_gen 16 // CHANNELS FOR 16 and 19 general messages

#define cBPM_SCAT_MEMSIZE 100

#define cBPM_SPEC_AN_MEMSIZE 128 //Must be a power of 2 (for a 4096 FFT we need 32 of these)

//RFR_140829 #define cBPM_STRIP_MEMSIZE 50

#define cBPM_STRIP_MEMSIZE 95


#define cBPM_AIFSCAT_MEMSIZE 16

//#endif

typedef union

{

SBinaryMsgHeader sBytes;

SBinaryMsgHeaderDW sDWord;

} SUnionMsgHeader;

/****************************************************/

/* SBinaryMsg1 */

/****************************************************/

typedef struct

{

SUnionMsgHeader m_sHead;

unsigned char m_byAgeOfDiff; /* age of differential, seconds (255 max)*/

unsigned char m_byNumOfSats; /* number of satellites used (12 max) */

unsigned short m_wGPSWeek; /* GPS week */

double m_dGPSTimeOfWeek; /* GPS tow */

double m_dLatitude; /* Latitude degrees, -90..90 */

double m_dLongitude; /* Longitude degrees, -180..180 */

float m_fHeight; /* (m), Altitude ellipsoid */

float m_fVNorth; /* Velocity north m/s */

float m_fVEast; /* Velocity east m/s */

float m_fVUp; /* Velocity up m/s */

float m_fStdDevResid; /* (m), Standard Deviation of Residuals */


305

unsigned short m_wNavMode;

unsigned short m_wAgeOfDiff; /* age of diff using 16 bits */

unsigned short m_wCheckSum; /* sum of all bytes of the header and data */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg1; /* length = 8 + 52 + 2 + 2 = 64 */

/****************************************************/

/* SBinaryMsg2 */

/****************************************************/

typedef struct

{


unsigned long m_ulMaskSatsTracked; /* SATS Tracked, bit mapped 0..31 */

unsigned long m_ulMaskSatsUsed; /* SATS Used, bit mapped 0..31 */

unsigned short m_wGpsUtcDiff; /* GPS/UTC time difference (GPS minus UTC) */

unsigned short m_wHDOPTimes10; /* HDOP (0.1 units) */

unsigned short m_wVDOPTimes10; /* VDOP (0.1 units) */

unsigned short m_wWAASMask; /* Bits 0-1: tracked sats, Bits 2-3:

used sats, Bits 5-9 WAAS PRN 1 minus

120, Bits 10-14 WAAS PRN 1 minus 120 */




//-****************************************************

//-* SBinaryMsg3

//-* Lat/Lon/Hgt, Covariances, RMS, DOPs and COG, Speed, Heading

//-****************************************************

typedef struct

{

SUnionMsgHeader m_sHead; // [8]

double m_dGPSTimeOfWeek; // GPS tow [8 bytes]

unsigned short m_wGPSWeek; // GPS week [2 bytes]

unsigned short m_wNumSatsTracked; // SATS Tracked [2 bytes]


306

unsigned short m_wNumSatsUsed; // SATS Used [2 bytes]

unsigned char m_byNavMode; // Nav Mode (same as message 1) [1 byte ]

unsigned char m_bySpare00; // Spare [1 byte ]

double m_dLatitude; // Latitude degrees, -90..90 [8 bytes]

double m_dLongitude; // Longitude degrees, -180..180 [8 bytes]

float m_fHeight; // (m), Altitude ellipsoid [4 bytes]

float m_fSpeed; // Horizontal Speed m/s [4 bytes]

float m_fVUp; // Vertical Velocity +up m/s [4 bytes]

float m_fCOG; // Course over Ground, degrees [4 bytes]

float m_fHeading; // Heading (degrees), Zero unless vector[4 bytes]

float m_fPitch; // Pitch (degrees), Zero unless vector [4 bytes]

float m_fSpare01; // Spare [4 bytes]

unsigned short m_wAgeOfDiff; // age of differential, seconds [2 bytes]

// m_wAttitudeStatus: bit {0-3} = sStatus.eYaw

// bit {4-7} = sStatus.ePitch

// bit {8-11} = sStatus.eRoll

// where sStatus can be 0 = INVALID, 1 = GNSS, 2 = Inertial, 3= Magnetic

unsigned short m_wAttitudeStatus; // Attitude Status, Zero unless vector [2 bytes]

float m_fStdevHeading; // Yaw stdev, degrees, 0 unless vector [4 bytes]

float m_fStdevPitch; // Pitch stdev, degrees, 0 unless vector[4 bytes]

float m_fHRMS; // Horizontal RMS [4 bytes]

float m_fVRMS; // Vertical RMS [4 bytes]

float m_fHDOP; // Horizontal DOP [4 bytes]

float m_fVDOP; // Vertical DOP [4 bytes]

float m_fTDOP; // Time DOP [4 bytes]

float m_fCovNN; // Covaraince North-North [4 bytes]

float m_fCovNE; // Covaraince North-East [4 bytes]

float m_fCovNU; // Covaraince North-Up [4 bytes]

float m_fCovEE; // Covaraince East-East [4 bytes]

float m_fCovEU; // Covaraince East-Up [4 bytes]

float m_fCovUU; // Covaraince Up-Up [4 bytes]

unsigned short m_wCheckSum; // sum of all bytes of the header and data

unsigned short m_wCRLF; // Carriage Return Line Feed

} SBinaryMsg3; // length = 8 + 116 + 2 + 2 = 128 (108 = 74 hex)


307

//-****************************************************

//-* SBinaryMsg5

//-* Base Location and Base ID

//-****************************************************

typedef struct

{


double m_dLatitude; // Base Latitude degrees, -90..90 [8 bytes]

double m_dLongitude; // Base Longitude degrees, -180..180 [8 bytes]

float m_fHeight; // Base Altitude ellipsoid, (m) [4 bytes]

unsigned short m_wBaseID; // BaseID [2 bytes]

unsigned short m_wSpare; // Spare [2 bytes]

char m_szDiffFormat[16]; // String giving format of Differential [16 bytes]

unsigned short m_awSpare[16]; // 32 bytes of spare [32 bytes]




/*****************************************************/

/* SBinaryMsg6 Manual Mark Tag Preceding MM messages*/

/*****************************************************/

typedef struct

{


double m_dTow; /* Time in seconds */

unsigned short m_wWeek; /* GPS Week Number */

unsigned short m_wSpare1; /* 16 bit spare word */



} SBinaryMsg6; /* length = 8 + (12) + 2 + 2 = 24 */

/****************************************************/

/* SChannelData */

/****************************************************/

typedef struct

{


308

unsigned char m_byChannel; /* channel number */

unsigned char m_bySV; /* satellite being tracked, 0 == not tracked */

unsigned char m_byStatus; /* Status bits (code carrier bit frame...) */

unsigned char m_byLastSubFrame; /* last subframe processed */

unsigned char m_byEphmVFlag; /* ephemeris valid flag */

unsigned char m_byEphmHealth; /* ephemeris health */

unsigned char m_byAlmVFlag; /* almanac valid flag */

unsigned char m_byAlmHealth; /* almanac health */

char m_chElev; /* elevation angle */

unsigned char m_byAzimuth; /* 1/2 the Azimuth angle */

unsigned char m_byURA; /* User Range Error */

unsigned char m_byDum; /* Place Holder */

unsigned short m_wCliForSNR; /* code lock indicator for SNR divided by 32 */

short m_nDiffCorr; /* Differential correction * 100 */

short m_nPosResid; /* position residual * 10 */

short m_nVelResid; /* velocity residual * 10 */

short m_nDoppHz; /* expected doppler in HZ */

short m_nNCOHz; /* track from NCO in HZ */

} SChannelData; /* 24 bytes */

/****************************************************/

/* SChannelL2Data */

/****************************************************/

//#if defined(_DUAL_FREQ_)

typedef struct

{

unsigned char m_byChannel; /* channel number */

unsigned char m_bySV; /* satellite being tracked, 0 == not tracked */

unsigned char m_byL2CX; /* Status bits for L2P (code carrier bit frame...) */

unsigned char m_byL1CX; /* Status bits for L1P (code carrier bit frame...) */

unsigned short m_wCliForSNRL2P; /* code lock indicator for SNR divided by 32 */

unsigned short m_wCliForSNRL1P; /* code lock indicator for L1P SNR divided by 32 */

short m_nC1_L1; /* C1-L1 in meters * 100 */


309

short m_nP2_C1; /* P2-C1 in meters * 100 */

short m_nP2_L1; /* P2-L1 in meters * 100 */

short m_nL2_L1; /* L2-L1 in meters * 100 */

short m_nP2_P1; /* P2-P1 in meters * 100 */

short m_nNCOHz; /* track from NCO in HZ */

} SChannelL2Data; /* 20 bytes */

//#endif

/****************************************************/

/* SChannelL2CData for USING_GPSL2CL */

/****************************************************/

typedef struct

{

unsigned char m_byChannel; // channel number

unsigned char m_bySV; // satellite being tracked, 0 == not tracked

unsigned char m_byL2CX; // Status bits for L2P (code carrier bit frame...)

unsigned char spare1;

unsigned short m_wCliForSNRL2C; // code lock indicator for SNR divided by 32

unsigned short spare2;

short m_nL2C_L1Ca; //L2CL - CA code error meters * 100

short m_nL2C_L2P; //L2CL - L2P code error meters * 100

short m_nL2_L1; //L2CL - L1CA phase error meters * 100

short m_nL2_L2P; //L2CL - L2P phase error meters * 100

short spare3;

short m_nNCOHz; // track from NCO in HZ

} SChannelL2CData; // 20 bytes

/****************************************************/

/* SBinaryMsg99 */

/****************************************************/

typedef struct

{


unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D (high bit =has_diff) */

char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS */



310


SChannelData m_asChannelData[CHANNELS_12]; /* channel data */

short m_nClockErrAtL1; /* clock error at L1, Hz */

unsigned short m_wSpare; /* spare */




#define CHANNELS_SBAS_E 3

/****************************************************/

/* SBinaryMsg89 * Supports 3 SBAS Satellites */

/****************************************************/

typedef struct

{


long m_lGPSSecOfWeek; /* GPS tow integer sec */

unsigned char m_byMaskSBASTracked; /* SBAS Sats Tracked, bit mapped 0..3 */

unsigned char m_byMaskSBASUSED; /* SBAS Sats Used, bit mapped 0..3 */


SChannelData m_asChannelData[CHANNELS_SBAS_E]; /* SBAS channel data */




/****************************************************/

/* SBinaryMsg100 */

/****************************************************/

//#if defined(_DUAL_FREQ_)

typedef struct

{


unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D (high bit =has_diff) */

char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS */


unsigned long m_ulMaskSatsUsedL2P; /* L2P SATS Used, bit mapped 0..31 */



311

unsigned long m_ulMaskSatsUsedL1P; /* L1P SATS Used, bit mapped 0..31 */

SChannelL2Data m_asChannelData[CHANNELS_12]; /* channel data */




//#endif

/****************************************************/

/* SBinaryMsg59 for USING_GPSL2CL */

/****************************************************/

typedef struct

{


unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D (high bit =has_diff) */ //1 byte

char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS */ //1 byte

unsigned short m_wGPSWeek; /* GPS week */ //2 bytes

unsigned long m_ulMaskSatsUsedL2P; /* L2P SATS Used, bit mapped 0..31 */ //4 bytes

double m_dGPSTimeOfWeek; /* GPS tow */ //8 bytes

SChannelL2CData m_asChannelData[CHANNELS_12]; /* channel data */ //20*12 bytes




//-****************************************************

//-* SSVSNRData

//-****************************************************

typedef struct

{

unsigned short m_wStatus_SYS_PRNID; // status, GNSS system, PRN ID

// Bit 0-5 PRNID (for SBAS , PRNID = PRN-120)

// Bit 6-8 SYS: 0 = GPS, 1 = GLONASS, 2 = GALILEO, 3 = BEIDOU, 4=QZSS, 7 = SBAS

// Bit 9 = code and Carrier Lock on L1,G1,B1


// Bit 11 = code and Carrier Lock on L5,E5,B3

// Bit 12 = Bit Lock and Frame lock (decoding data)

// Bit 13 = Ephemeris Available


312

// Bit 14 = Health OK

// Bit 15 = Satellite used in Navigation Solution

// m_wStatus_SYS_PRNID = 0 ==> unfilled data

char m_chElev; // Elevation angle, LSB = 1 deg

unsigned char m_byAzimuth; // 1/2 the Azimuth angle, LSB = 2 deg

unsigned long m_ulSNR3_SNR2_SNR1; // 3 SNRs, 2 @ 11 bit & 1 @ 10 bits, each SNR = 10.0*log10( 0.8192*SNR_value)

// Bits 0-10 SNR1 (L1,G1,B1, etc) 11 bits => Max SNR = 32.2 dB


// Bits 22-31 SNR3 (L5,E5,B3, etc) 10 bits => Max SNR = 29.2 dB

} SSVSNRData; // 8 bytes

//-****************************************************

//-* SBinaryMsg209

//-* SNR and status for all GNSS tracks

//-****************************************************

typedef struct

{




char m_cUTCTimeDiff; // Whole Seconds between UTC and GPS [1 byte]

unsigned char m_byPage; // Bits 0-1 = Antenna: 0 = Master, 1 = Slave, 2 = Slave2 [1 byte]

// Bits 2-4 = Page ID: 0 = page 1, 1 = page 2, etc

// Bits 5-7 = Max page ID: 0 = only 1 page, 1 = 2 pages

SSVSNRData m_asSVData[40]; // SNR data [320 bytes]



} SBinaryMsg209; // length = 8 + 332 + 2 + 2 = 344

/****************************************************/

/* SSVAlmanData */

/****************************************************/

typedef struct

{

short m_nDoppHz; /* doppler in HZ for stationary receiver */


313

unsigned char m_byCountUpdate; /* count of almanac updates */

unsigned char m_bySVindex; /* 0 through 31 (groups of 8)*/

unsigned char m_byAlmVFlag; /* almanac valid flag */

unsigned char m_byAlmHealth; /* almanac health */



} SSVAlmanData; /* 8 bytes */

/****************************************************/

/* SBinaryMsg98 */

/****************************************************/

typedef struct

{


SSVAlmanData m_asAlmanData[8]; /* SV data, 8 at a time */

unsigned char m_byLastAlman; /* last almanac processed */

unsigned char m_byIonoUTCVFlag; /* iono UTC flag */




} SBinaryMsg98; /* length = 8 + (64+1+1+2) + 2 + 2 = 80 */

/****************************************************/

/* SBinaryMsg97 */

/****************************************************/

typedef struct

{


unsigned long m_ulCPUFactor; /* CPU utilization Factor (%=multby 450e-6) */

unsigned short m_wMissedSubFrame; /* missed subframes */

unsigned short m_wMaxSubFramePend; /* max subframe pending */

unsigned short m_wMissedAccum; /* missed accumulations */

unsigned short m_wMissedMeas; /* missed measurements */

unsigned long m_ulSpare1; /* spare 1 (zero)*/




314

unsigned short m_wSpare4; /* spare 4 (zero)*/


unsigned short m_wCheckSum; /* sum of all bytes of the headerand data */



/****************************************************/

/* SObservations */

/****************************************************/

typedef struct

{

unsigned long m_ulCS_TT_SNR_PRN; /* Bits 0-7 PRN (PRN is 0 if no data) */

/* Bits 8-15 SNR_value

SNR = 10.0*log10( 0.8192*SNR_value) */

/* Bits 16-23 Phase Track Time in units

of 1/10 second (range = 0 to 25.5

seconds (see next word) */

/* Bits 24-31 Cycle Slip Counter

Increments by 1 every cycle slip

with natural roll over after 255 */

unsigned long m_ulDoppler_FL; /* Bit 0: 1 if Valid Phase, 0 otherwise

Bit 1: 1 if Track Time > 25.5 sec,

0 otherwise

Bits 2-3: unused

Bits 4-32: Signed (two's compliment)

doppler in units of m/sec x 4096.

(i.e., LSB = 1/4096). Range =

+/- 32768 m/sec. Computed as

phase change over 1/10 sec. */

double m_dPseudoRange; /* pseudo ranges (m) */

double m_dPhase; /* phase (m) L1 wave len = 0.190293672798365*/

} SObservations; /* 24 bytes */

/****************************************************/

/* SBinaryMsg96 */

/****************************************************/


315

typedef struct

{




double m_dTow; /* Predicted GPS Time in seconds */

SObservations m_asObvs[CHANNELS_12];/* 12 sets of observations */




/****************************************************/

/* SBinaryMsg95 */

/****************************************************/

/* sent only upon command or when values change */

typedef struct

{


unsigned short m_wSV; /* The satellite to which this data belongs. */

unsigned short m_wSpare1; /* spare 1 (chan number (as zero 9/1/2004)*/

unsigned long m_TOW6SecOfWeek; /* time at which this arrived (LSB = 6sec) */

unsigned long m_SF1words[10]; /* Unparsed SF 1 message words. */



/* Each of the subframe words contains

one 30-bit GPS word in the lower

30 bits, The upper two bits are ignored

Bits are placed in the words from left to

right as they are received */




//-----------------------------------------------------------------------------

// SBinaryMsg94

// I think we will need similar binary messages for Galileo and BeiDou


316

// Or maybe not, it seems that much of this is optional for RINEX

//-----------------------------------------------------------------------------

// sent only upon command or when values change

typedef struct

{


/* Iono parameters. */

double m_a0,m_a1,m_a2,m_a3; /* AFCRL alpha parameters. */

double m_b0,m_b1,m_b2,m_b3; /* AFCRL beta parameters. */

/* UTC conversion parameters. */

double m_A0,m_A1; /* Coeffs for determining UTC time. */

unsigned long m_tot; /* Reference time for A0 & A1, sec of GPS week. */

unsigned short m_wnt; /* Current UTC reference week number. */

unsigned short m_wnlsf; /* Week number when dtlsf becomes effective. */

unsigned short m_dn; /* Day of week (1-7) when dtlsf becomes effective. */

short m_dtls; /* Cumulative past leap seconds. */

short m_dtlsf; /* Scheduled future leap seconds. */





/****************************************************/

/* SBinaryMsg93 */

/****************************************************/

/* sent only upon command or when values change */

/* WAAS ephemeris */

typedef struct

{



unsigned short m_wWeek; /* Week corresponding to m_lTOW*/

unsigned long m_lSecOfWeekArrived;/* time at which this arrived (LSB = 1sec) */

unsigned short m_wIODE;

unsigned short m_wURA; /* See 2.5.3 of Global Pos Sys Std Pos Service Spec */


317

long m_lTOW; /* Sec of WEEK Bit 0 = 1 sec */

long m_lXG; /* Bit 0 = 0.08 m */

long m_lYG; /* Bit 0 = 0.08 m */

long m_lZG; /* Bit 0 = 0.4 m */

long m_lXGDot; /* Bit 0 = 0.000625 m/sec */

long m_lYGDot; /* Bit 0 = 0.000625 m/sec */

long m_lZGDot; /* Bit 0 = 0.004 m/sec */

long m_lXGDotDot; /* Bit 0 = 0.0000125 m/sec/sec */

long m_lYGDotDot; /* Bit 0 = 0.0000125 m/sec/sec */

long m_lZGDotDot; /* Bit 0 = 0.0000625 m/sec/sec */

short m_nGf0; /* Bit 0 = 2**-31 sec */

short m_nGf0Dot; /* Bit 0 = 2**-40 sec/sec */




/****************************************************/

/* SBinaryMsg80 */

/****************************************************/

typedef struct

{


unsigned short m_wPRN; /* Broadcast PRN */

unsigned short m_wSpare; /* spare (zero) */

unsigned long m_ulMsgSecOfWeek; /* Seconds of Week For Message */

unsigned long m_aulWaasMsg[8]; /* Actual 250 bit waas message*/

unsigned short m_wCheckSum; /* sum of all bytes of the headerand data */



/****************************************************/

/* SMsg91Data */

/****************************************************/

typedef struct

{

unsigned char bySV; /* satellite being tracked, 0 == not tracked */


318

unsigned char byStatus; /* Status bits (code carrier bit frame...) */

unsigned char byStatusSlave; /* Status bits (code carrier bit frame...) */

unsigned char byChannel; /* Not used */

unsigned short wEpochSlew; /* 20*_20MS_EPOCH_SLEW + _1MS_EPOCH_SLEW */

unsigned short wEpochCount; /* epoch_count */

unsigned long codeph_SNR; /* 0-20 = code phase (21 bits), 28-32 = SNR/4096, upper 4 bits */

unsigned long ulCarrierCycles_SNR; /* 0-23 = carrier cycles, 24-32 = SNR/4096 lower 8 bits */

unsigned short wDCOPhaseB10_HalfWarns; /* 0-11 = DCO phase, 12-14 = Half Cycle Warn

15 = half Cycle added */

unsigned short m_wPotentialSlipCount; /* potential slip count */

/* SLAVE DATA */

unsigned long codeph_SNR_Slave; /* 0-20 = code phase (21 bits), 28-32 = SNR/4096, upper 4 bits */

unsigned long ulCarrierCycles_SNR_Slave; /* 0-23 = carrier cycles, 24-32 = SNR/4096 lower 8 bits */

unsigned short wDCOPhaseB10_HalfWarns_Slave; /* 0-11 = DCO phase, 12-14 = Half Cycle Warn


unsigned short m_wPotentialSlipCount_Slave; /* potential slip count */

} SMsg91Data; /* 32 bytes */

/****************************************************/

/* SBinaryMsg91 */

/* Comment: Transmits data from Takemeas.c */

/* debugging structure. */

/* Added by bbadke 7/07/2003 */

/****************************************************/

typedef struct

{

SUnionMsgHeader m_sHead; /* 8 */

double m_sec; /* 8 bytes */

int m_iWeek; /* 4 bytes */

unsigned long m_Tic; /* 4 bytes */

long lTicOfWeek; /* 4 bytes */

long lProgTic; /* 4 bytes */

SMsg91Data s91Data[CHANNELS_12]; /* 12*32= 384 bytes */



319



/****************************************************/

/* SObsPacket */

/****************************************************/

typedef struct

{

unsigned long m_ulCS_TT_W3_SNR; /* Bits 0-11 (12 bits) =SNR_value

For All signals except GPS L2, SNR = 10.0*log10( 0.1024*SNR_value)

For GPS L2, SNR = 10.0*log10( 0.1164*SNR_value) */

/* Bits 12-14 (3 bits) = 3 bits of warning

for potential 1/2 cycle slips. A warning

exists if any of these bits are set. */

/* bit 15: (1 bit) 1 if Track Time > 25.5 sec,

0 otherwise */

/* Bits 16-23 (8 bits): Track Time in units

of 1/10 second (range = 0 to 25.5 seconds) */

/* Bits 24-31 (8 bits) = Cycle Slip Counter

Increments by 1 every cycle slip

with natural roll-over after 255 */

unsigned long m_ulP7_Doppler_FL; /* Bit 0: (1 bit) 1 if Valid Phase, 0 otherwise

Bit 1-23: (23 bits) =Magnitude of doppler

LSB = 1/512 cycle/sec

Range = 0 to 16384 cycle/sec

Bit 24: sign of doppler, 1=negative, 0=pos

Bits 25-31 (7 bits) = upper 7 bits of the

23 bit carrier phase.

LSB = 64 cycles, MSB = 4096 cycles */

unsigned long m_ulCodeAndPhase; /* Bit 0-15 (16 bits) lower 16 bits of code

pseudorange

LSB = 1/256 meters

MSB = 128 meters

Note, the upper 19 bits are given in

m_aulCACodeMSBsPRN[] for CA code


320

Bit 16-31 lower 16 bits of the carrier phase,

7 more bits are in m_ulP7_Doppler_FL

LSB = 1/1024 cycles

MSB = 32 cycles */

} SObsPacket; /* 12 bytes , note: all zero if data not available */

/* A NOTE ON DECODING MESSAGE 76

* Notation: "code" -- is taken to mean the PseudoRange derived from code phase.

* "phase" -- is taken to mean range derived from carrier phase.

* This will contain cycle ambiguities.

*

* Only the lower 16 bits of L1P code, L2P code and the lower 23 bits of

* carrier phase are provided. The upper 19 bits of the L1CA code are found

* in m_aulCACodeMSBsPRN[]. The upper 19 bits of L1P or L2P must be derived

* using the fact that L1P and L2P are within 128 meters of L1CA. To

* determine L1P or L2P, use the lower 16 bits provided in the message and

* set the upper bits to that of L1CA. Then add or subtract one LSB of the

* upper bits (256 meters) so that L1P or L2P are within 1/2 LSB (128 meters)

* of the L1CA code.

* The carrier phase is in units of cycles, rather than meters,

* and is held to within 1023 cycles of the respective code range. Only

* the lower 16+7=23 bits of carrier phase are transmitted in Msg 76.

* In order to determine the remaining bits, first convert the respective

* code range (determined above) into cycles by dividing by the carrier

* wavelength. Call this the "nominal reference phase". Next extract the 16

* and 7 bit blocks of carrier phase from Msg 76 and arrange to form the lower

* 23 bits of carrier phase. Set the upper bits (bit 23 and above) equal to

* those of the nominal reference phase. Then, similar to what was done for

* L1P and L2P, add or subtract the least significant upper bit (8192 cycles)

* so that carrier phase most closely agrees with the nominal reference phase

* (to within 4096 cycles).

*/

#define CHANNELS_12_PLUS (CHANNELS_12+2) /* up to two SBAS satellites */


321

#define CHANNELS_L1_E (CHANNELS_12+CHANNELS_SBAS_E) /* All L1 (including SBAS satellites) */

/****************************************************/

/* SBinaryMsg76 */

/****************************************************/

typedef struct

{


double m_dTow; /* GPS Time in seconds */




SObsPacket m_asL2PObs[CHANNELS_12]; /* 12 sets of L2(P) observations */

SObsPacket m_asL1CAObs[CHANNELS_L1_E]; /* 15 sets of L1(CA) observations */

unsigned long m_aulCACodeMSBsPRN[CHANNELS_L1_E]; /* array of 15 words.

bit 7:0 (8 bits) = satellite PRN, 0

if no satellite

bit 12:8 (5 bits) = spare

bit 31:13 (19 bits) = upper 19 bits

of L1CA LSB = 256 meters

MSB = 67108864 meters */

unsigned long m_auL1Pword[CHANNELS_12]; /* array of 12 words relating to L1(P) code.

Bit 0-15 (16 bits) lower 16 bits of the

L1P code pseudo range.

LSB = 1/256 meters

MSB = 128 meters

Bits 16-27 (12 bits) = L1P SNR_value

SNR = 10.0*log10( 0.1164*SNR_value)

If Bits 16-27 all zero, no L1P track

Bits 28-31 (4 bits) spare */




/****************************************************/

/* SMsg71DataL1 */


322

/****************************************************/

typedef struct

{

unsigned char bySV; /* satellite being tracked, 0 == not tracked */

unsigned char byStatus; /* Status bits (code carrier bit frame...) */

unsigned char byStatusL1P; /* 0-8 lower 8 bits of L1P SNR/32768, if zero and

if upper two bits of m_wSNR_codeph_L1P are zero

then L1P is not tracking */

unsigned char byStatusL2P; /* Status bits (code carrier phase ...) */

unsigned short wEpochSlew; /* 20*_20MS_EPOCH_SLEW + _1MS_EPOCH_SLEW */

unsigned short wEpochCount; /* epoch_count */

unsigned long codeph_SNR; /* 0-20 = code phase (21 bits), 28-32 = SNR/4096, upper 4 bits */

unsigned long ulCarrierCycles_SNR; /* 0-23 = carrier cycles, 24-32 = SNR/4096 lower 8 bits */

unsigned short wDCOPhaseB10_HalfWarns; /* 0-11 = DCO phase, 12-14 = Half Cycle Warn


unsigned short m_wPotentialSlipCount; /* potential slip count */

} SMsg71DataL1; /* 20 bytes */

/****************************************************/

/* SMsg71DataL1PL2P */

/****************************************************/

typedef struct

{

/* L1P and L2P Data */

// unsigned long codeph_SNR_L1P; NOT USED YET /* 0-22 = L1 code phase (23 bits), 28-32 = SNR/8192, upper 4 bits */

unsigned long codeph_SNR_L2P; /* 0-22 = L2P code phase (23 bits), 28-32 = SNR/8192, upper 4 bits */

unsigned long ulCarrierCycles_SNR_L2P; /* 0-23 = carrier cycles, 24-32 = SNR/8192 lower 8 bits */

unsigned short wDCOPhaseB10_L2P; /* 0-11 = DCO phase, 12-15 = Spare */

unsigned short m_wSNR_codeph_L1P; /* 0-13 = lower 14 bits of L1P code, 14-15 SNR/32768 Upper 2 bits */

/* To get full L1P code, use upper bits form L2P and adjust by

+/- 2**14 if necessary */

} SMsg71DataL1PL2P; /* 12 bytes */

/****************************************************/


323

/* SBinaryMsg71 */

/* Comment: Transmits data from Takemeas.c */

/* debugging structure for Dual Freq. */

/****************************************************/

typedef struct

{


double m_sec; /* 8 bytes */

int m_iWeek; /* 4 bytes */


long lTicOfWeek; /* 4 bytes */

long lProgTic; /* 4 bytes */

SMsg71DataL1PL2P s91L2PData[CHANNELS_12]; /* 12*12 = 144 bytes */

SMsg71DataL1 s91Data[CHANNELS_12_PLUS]; /* 14*20 = 280 bytes */




/////////////////////////////////////////////////////

// SBinaryMsg10

// Comment: Transmits scatter plot data from

// buffacc.c

//

/////////////////////////////////////////////////////

//-- maxes out 16 types, you have to expand some fields if you add any more types

enum eBIN10_TYPE {eBIN10_GPSL1CA = 0,

eBIN10_GPSL1P = 1,

eBIN10_GPSL2P = 2,

eBIN10_GLONASSL1 = 3,


eBIN10_GPSL2CL = 5,

eBIN10_GPSL5Q = 6,

eBIN10_GALILEO_E1BC = 7,

eBIN10_GALILEO_E5A = 8,

eBIN10_GALILEO_E5B = 9,


324

eBIN10_BEIDOU_B1 = 10,



eBIN10_GPSL1C = 13,

eBIN10_QZSS_L1CA = 14,

eBIN10_QZSS_L1C = 15,


eBIN10_QZSS_L5 = 17,

eBIN10_BEIDOU_B1BOC = 18, // USING_BEIDOU_PHASE3

eBIN10_BEIDOU_B2A = 19, // USING_BEIDOU_PHASE3

eBIN10_BEIDOU_B2B = 20, // USING_BEIDOU_PHASE3

eBIN10_BEIDOU_B3C = 21, // USING_BEIDOU_PHASE3

eBIN10_BEIDOU_ACEBOC = 22,

eBIN10_GALILEO_E6 = 23,

eBIN10_GALILEO_ALTBOC= 24,

eBIN10_GLONASS_G1OC = 26,



eBIN10_QZSS_LEX = 29

};

typedef struct

{

SUnionMsgHeader m_sHead; // 8 bytes

short m_anScatterPlotDataI[cBPM_SCAT_MEMSIZE]; //100*2 = 200 bytes

short m_anScatterPlotDataQ[cBPM_SCAT_MEMSIZE]; //100*2 = 200 bytes

unsigned short m_wChannel;

unsigned short m_wSigType; // one of eBIN10_TYPE



} SBinaryMsg10; // length = 8 +200 +200 +2 +2 +2 +2 = 416

/////////////////////////////////////////////////////

// SBinaryMsg12

// Comment: Transmits power detector data from


325

// buffacc.c

//

/////////////////////////////////////////////////////

//-- maxed out 16 types, you have to expand some fields if you add any more types


eBIN12_GPSL1P = 1,

eBIN12_GPSL2P = 2,



eBIN12_GPSL2CL = 5,

eBIN12_GPSL5Q = 6,







eBIN12_GPSL1C = 13,




eBIN12_QZSS_L5 = 17,

eBIN12_BEIDOU_B1BOC = 18, // USING_BEIDOU_PHASE3

eBIN12_BEIDOU_B2A = 19, // USING_BEIDOU_PHASE3

eBIN12_BEIDOU_B2B = 20, // USING_BEIDOU_PHASE3

eBIN12_BEIDOU_B3C = 21, // USING_BEIDOU_PHASE3

eBIN12_BEIDOU_ACEBOC = 22,

eBIN12_GALILEO_E6 = 23,

eBIN12_GALILEO_ALTBOC = 24,




eBIN12_QZSS_LEX = 29

};


326

typedef struct

{


int m_aiPowerDetectData[cBPM_STRIP_MEMSIZE]; //100*4 = 400 bytes //HACK for dumpIRQBufferToPort (CrLI can go negative)

int m_iThresh_Acq; //RFR_140829

int m_iThresh_Loss; //RFR_140829

float m_fCarrierNCO; //RFR_140902

float m_fCodeNCO; //RFR_140902

unsigned short m_wCarrierBin; //RFR_140902 [7:0]CarrierBinNum RFR_160506 (break status out to its own field)

unsigned short m_wStatus; //RFR_160506 [15:0]CXBF RFR_160506 added 2-bytes <****

long m_lDelayCodeLossIfFramSyn; //RFR_160506 added 4-bytes

unsigned short m_wCodeMovement; //RFR_140902





} SBinaryMsg12; // length = 8 +200 +4 +4 +2 +2 +2 +2= 224

#if defined(ENABLE_PLOT_PERFMETER)

/////////////////////////////////////////////////////

// SBinaryMsg13

// Comment: Transmits Performance Numbers

/////////////////////////////////////////////////////

enum eBIN13_TYPE {eBIN13_IDLE = 0,

eBIN13_GPISR = 1,

eBIN13_BUFFACCUM = 2,

eBIN13_TASK_00 = 3,

eBIN13_TASK_01 = 4,

eBIN13_SPARE = 5

};

typedef struct

{



327

int m_aiPerformanceMetric[cBPM_STRIP_MEMSIZE]; //100*4 = 400 bytes

int m_iMetricMaxScale; //maximum possible value for m_aiPowerDetectData (allows plotting percentage)

unsigned int m_uNumDataPointsInPkt; //num points in m_aiPowerDetectData (might not be the max cBPM_STRIP_MEMSIZE because could be too slow for some metrics)

int m_iMetricFiltered;

int m_iMetricPeak;

unsigned short m_wSpare3;



unsigned short m_wStatType; // one of eBIN13_TYPE



} SBinaryMsg13; // length = 8 +200 +4 +4 +2 +2 +2 +2= 224

#endif //ENABLE_PLOT_PERFMETER


/////////////////////////////////////////////////////

// SBinaryMsg11

// Comment: Transmits scatter plot data for RXGNSS_AIF statistics

//

/////////////////////////////////////////////////////

enum eBIN11_TYPE {eBIN11_COUNTS=0,eBIN11_VALUES};

typedef struct

{


unsigned short m_awScatterPlotDataValues[cBPM_AIFSCAT_MEMSIZE]; //16*2 = 32 bytes

unsigned short m_awScatterPlotDataCntMag[cBPM_AIFSCAT_MEMSIZE]; //16*2 = 32 bytes

unsigned short m_awScatterPlotDataCntDCoff[cBPM_AIFSCAT_MEMSIZE]; //16*2 = 32 bytes

unsigned short m_wChannel; // aif_sel 0: AIF_A, 1: AIF_B, ...




} SBinaryMsg11; // length = 8 +32 +32 +32 +2 +2 +2 +2 = 112


328

/////////////////////////////////////////////////////

// SBinaryMsg17

// Comment: Transmits spectrum analyzer plot data

// We may change this notation a bit when

// we get the channelizer working

//

/////////////////////////////////////////////////////

//-- maxes out 16 types, you have to expand some fields if you add any more types


eBIN17_GPSL1P = 1,

eBIN17_GPSL2P = 2,



eBIN17_GPSL2CL = 5,

eBIN17_GPSL5Q = 6,







eBIN17_GPSL1C = 13,




eBIN17_QZSS_L5 = 17};

typedef struct

{


float m_aiSpecAnPlotData[cBPM_SPEC_AN_MEMSIZE]; //128*4 = 512 bytes

float m_wSampleFreq;


329

unsigned short m_wStage; //Index so you know what frequencies are in the message








} SBinaryMsg17; // length = 8 + 512 + 4 +2 +2 +2 +2 +2 +2 +2 +2 = 540

//#endif

/****************************************************/

/* SGLONASSChanData */

/****************************************************/

typedef struct

{

unsigned char m_bySV; /* Bit (0-6) = SV slot, 0 == not tracked

* Bit 7 = Knum flag

* = KNum+8 if bit 7 set

*/

unsigned char m_byAlm_Ephm_Flags;/* ephemeris and almanac status flags */

/* bit 0: Ephemeris available but timed out

* bit 1: Ephemeris valid

* bit 2: Ephemeris health OK

* bit 3: unused

* bit 4: Almanac available

* bit 5: Almanac health OK

* bit 6: unused

* bit 7: Satellite doesn't exist

*/


330

unsigned char m_byStatus_L1; /* Status bits (code carrier bit frame...) */




unsigned char m_byLastMessage; /* last message processed */

unsigned char m_bySlip01; /* cycle slip on chan 1 */

unsigned short m_wCliForSNR_L1; /* code lock indicator for SNR divided by 32 */


short m_nDiffCorr_L1; /* Differential correction * 100 */

short m_nDoppHz; /* expected doppler in HZ at glonass L1 */

short m_nNCOHz_L1; /* track from NCO in HZ */


short m_nPosResid_1; /* position residual 1 * 1000 */


} SGLONASSChanData; /* 24 bytes */

/****************************************************/

/* SBinaryMsg69 */

/****************************************************/

typedef struct

{


long m_lSecOfWeek; /* tow */

unsigned short m_wL1usedNavMask; /* mask of L1 channels used in nav solution */


SGLONASSChanData m_asChannelData[CHANNELS_12]; /* channel data 12X24 = 288 */

unsigned short m_wWeek; /* week */

unsigned char m_bySpare01; /* spare 1 */






331

//Need to add to this for E1B and E1C.

/****************************************************/

/* SGALILEOChanData */

/****************************************************/

typedef struct

{

unsigned char m_bySV; /* Bit (0-6) = SV slot, 0 == not tracked

* Bit 7 = Knum flag

* = KNum+8 if bit 7 set

*/

unsigned char m_byAlm_Ephm_Flags;/* ephemeris and almanac status flags */

/* bit 0: Ephemeris available but timed out

* bit 1: Ephemeris valid

* bit 2: Ephemeris health OK

* bit 3: unused

* bit 4: Almanac available

* bit 5: Almanac health OK

* bit 6: unused

* bit 7: Satellite doesn't exist

*/





unsigned char m_byLastMessage; /* last message processed */

unsigned char m_bySlip01; /* cycle slip on chan 1 */



short m_nDiffCorr_L1; /* Differential correction * 100 */

short m_nDoppHz; /* expected doppler in HZ at glonass L1 */






332

} SGALILEOChanData; /* 24 bytes */

/****************************************************/

/* SBinaryMsg49 (Galileo E5A, E1B, E1C) */

/****************************************************/

typedef struct

{





SGALILEOChanData m_asChannelData[CHANNELS_12]; /* channel data 12X24 = 288 */

unsigned short m_wWeek; /* week */






//-----------------------------------------------------------------------------

// SBinaryMsg36 BeiDou observations (see notes on mesage 76)

// Indivdual pages for B1I, B2I, B3I, etc ... to allow for BeiDou Phase III

// Allows for a maximum of 20 channels

//-----------------------------------------------------------------------------

typedef struct

{

SUnionMsgHeader m_sHead; // (8 bytes)

double m_dTow; // Time in seconds (8 bytes)

unsigned short m_wWeek; // GPS Week Number (2 bytes)

unsigned short m_wSpare1; // spare 1 (zero) (2 bytes)

unsigned long m_uFreqPage; //[0-19] Spare bits

//[20,21,22,23] Number of Pages

//[24,25,26,27] Page Number


333

//[28,29,30,31] Signal ID (B1I, B2I, B3I, etc)

SObsPacket m_asObs[CHANNELS_20]; // 20 sets of BeiDou observations (20*12=240 bytes)

unsigned long m_aulCodeMSBsPRN[CHANNELS_20]; // array of 20 words (20*4=80 bytes)

// bit 7:0 (8 bits) = satellite PRN, 0

// if no satellite

// bit 12:8 (5 bits) = spare

// bit 31:13 (19 bits) = upper 19 bits

// of B1/B2/B3 LSB = 256 meters

// MSB = 67108864 meters

unsigned short m_wCheckSum; /// sum of all bytes of the header and data (2 bytes)

unsigned short m_wCRLF; // Carriage Return Line Feed (2 bytes)

} SBinaryMsg36; // length = 8 + (8+2+2+4+240+80=336) + 2 + 2 = 348

//-----------------------------------------------------------------------------

// SBinaryMsg16 Generic GNSS observations (see notes on mesage 76)

// 12 observations per message, multiple pages of messages, See BIN_MSG_HEAD_TYPE16

//-----------------------------------------------------------------------------

typedef struct

{





unsigned long m_uPageCount; //[0-15] Spare bits

//[16,17,18,19,20,21] Number of Pages = N

//[22,23,24,25,26,27] Page Number [0...N-1]

//[28,29,30,31] Spare bits

// Bit mask of all signals included in the set of pages

unsigned long m_uAllSignalsIncluded_01; // bit 0 = GPS:L1CA included

// bit 1 = GPS:L2P included

// bit 2 = GPS:L2C included


334

// bit 3 = GPS:L5 included

// bit 7:4 = spare

// bit 8 = GLO:G1C or GLO:G1P included


// bit 10 = Spare

// bit 11 = Spare

// bit 12 = GLO:G10C included



// bit 15 = spare

// bit 16 = GAL:E1BC included

// bit 17 = GAL:E5A included

// bit 18 = GAL:E5B included

// bit 19 = GAL:E6 included

// bit 20 = GAL:ALTBOC included

// bit 23:21 = spare

// bit 24 = BDS:B1I included



// bit 27 = BDS:B1BOC included

// bit 28 = BDS:B2A included

// bit 29 = BDS:B2B included

// bit 30 = BDS:B3C included

// bit 31 = BDS:ACEBOC included

unsigned long m_uAllSignalsIncluded_02; // bit 0 = QZS:L1CA included

// bit 1 = spare

// bit 2 = QZS:L2C included

// bit 3 = QZS:L5 included


// bit 5 = QZS:LEX included

// bit 31:6 = spare

SObsPacket m_asObs[CHANNELS_gen]; // 16 sets of observations (16*12=192 bytes)

unsigned long m_aulCodeMSBsPRN[CHANNELS_gen]; // array of 16, 32 bit words (16*4=64 bytes)

// bit 7:0 (8 bits) = satellite PRN,


335

// = 0 if no satellite

// bit 12:8 (5 bits) = Log_Base_2(X+1)

// where X = Time, in units of 1/100th sec,

// since carrier phase tracking was last stressed

// or cycle slipped


// of code pseudorange LSB = 256 meters

// MSB = 67108864 meters

unsigned short m_awChanSignalSYS[CHANNELS_gen]; // Array of 16, 16 bit words (32 bytes)

//[15,14] spare bits

//[13] = 1 if GLONASS P-Code

//[12,11,10,9,8] = Channel (0 is the first channel)

//[7,6,5,4] = Signal ID (L1CA, L5, G1, B1I, B2I, B3I, etc)

// GPS Signal ID: L1CA=0, L2P=1, L2C=2, L5=3

// GLO Signal ID: G1C/G1P=0, G2C/G2P=1, G10C=4, G20C=5, G30C=6

// GAL Signal ID: E1BC=0, E5A=1, E5B=2, E6=3, ALTBOC=4

// BDS Signal ID: B1I=0, B2I=1, B3I=2,B1BOC=3,B2A=4,B2B=5,B3C=6,ACEBOC=7

// QZS Signal ID: L1CA=0, L2C=2, L5=3, L1C=4

//[3,2,1,0] = GNSS System, 0=GPS,1=GLO,2=GAL,3=BDS,4=QZS



} SBinaryMsg16; // length = 8 + (8+2+2+4+4+4+192+64+32=312) + 2 + 2 = 324

//=====================================================================

// SGENERICchanData (was called SBEIDOUChanData)

//

// Note: Currently we have some redundant stuff in all 3 pages

// perhaps we should eliminate the redundant stuff

// and only put in page 1 and not 2 & 3???

//=====================================================================

typedef struct

{


336

unsigned char m_bySV; // Bit (0-6) = SV slot, 0 == not tracked

unsigned char m_byAlm_Ephm_Flags; // ephemeris and almanac status flags

// bit 0: Ephemeris available but timed out

// bit 1: Ephemeris valid

// bit 2: Ephemeris health OK

// bit 3: unused

// bit 4: Almanac available

// bit 5: Almanac health OK

// bit 6: unused

// bit 7: Satellite doesn't exist

unsigned char m_byStatus; // Status bits (code carrier bit frame...)

char m_chElev; // elevation angle

unsigned char m_byAzimuth; // 1/2 the Azimuth angle

unsigned char m_byLastMessage; // last message processed

unsigned char m_bySlip; // cycle slip on chan 1

char m_cFlags; // RFR_150501 was m_cSpare1;

// [0] bChanEnabled

// [1] bUsedInSolution

unsigned short m_wCliForSNR; // code lock indicator for SNR divided by 32

short m_nDiffCorr; // Differential correction * 100

short m_nDoppHz; // expected doppler in HZ at B1 frequency


short m_nPosResid; // position residual * 1000

unsigned short m_wAllocType; //RFR_150501 was m_nSpare2

} SGENERICchanData; //Changed to generic B1/B2/B3 message 3/18/2013 (20 bytes)

//-----------------------------------------------------------------------------

// SBinaryMsg39

// Populates SLXMON window


337

// Indivdual pages for B1I, B2I, B3I, etc ... to allow for BeiDou Phase III

// Allows for a maximum of 20 channels

//-----------------------------------------------------------------------------

typedef struct

{

SUnionMsgHeader m_sHead; //8 bytes

long m_lSecOfWeek; //tow (4 bytes)

unsigned long m_uMaskFreqPage; //[0-19] Mask of channels used in nav solution


//[24,25,26,27] Page Number


SGENERICchanData m_asChannelData[CHANNELS_20]; //channel data 20x20 = 400

unsigned short m_wWeek; // week

unsigned short m_wSpare; // spare



} SBinaryMsg39; // length = 8+(4+4+400+2+2)+2+2 = 8 + (412) + 2 + 2 = 424

//-----------------------------------------------------------------------------

// SBinaryMsg19

// Generic GNSS message for populating SLXmon windows

//-----------------------------------------------------------------------------

typedef struct

{


long m_lSecOfWeek; // tow (4 bytes)

unsigned short m_wGPSWeek; // GPS Week Number (2 bytes)

unsigned char m_byNavMode; // Nav Mode FIX_NO, FIX_2D, FIX_3D (high bit =has_diff)

char m_cUTCTimeDiff; // whole Seconds between UTC and GPS

unsigned long m_uPageCount; // [0-15] Spare bits (4 bytes)


338

// [16,17,18,19,20,21] Number of Pages = N

// [22,23,24,25,26,27] Page Number [0...N-1]

// [28,29,30,31] Spare bits






// bit 7:4 = spare



// bit 10 = Spare

// bit 11 = Spare




// bit 15 = spare
















// bit 1 = spare



339




// bit 31:6 = spare

short m_nClockErrAtL1;// clock error at L1, Hz (2 bytes)

unsigned short m_wSpare1; // spare (2 bytes)

SGENERICchanData m_asChannelData[CHANNELS_gen]; // channel data 16x20 = 320






// GPS Signal ID = 0:L1CA, 1:L2P, 2:L2C, 3:L5

// GLO Signal ID = 0:G1C/G1P, 1:G2C/G2P, 4:G10C, 5:G20C, 6:G30C

// GAL Signal ID = 0:E1BC, 1:E5A, 2:E5B, 3:E6, 4:ALTBOC

// BDS Signal ID = 0:B1I, 1:B2I, 2:B3I, 3:B1BOC,4:B2A, 5:B2B, 6:B3C, 7:ACEBOC

// QZS Signal ID = 0:L1CA, 1:xxx, 2:L2C, 3: L5, 4: L1C




} SBinaryMsg19; // length = 8+(4+2+1+1+4+4+4+2+2+320+32)+2+2 = 8 + (376) + 2 + 2 = 388

#if defined(_USING_BEIDOU_TIME_OFFSETS_)

//-----------------------------------------------------------------------------

// SBinaryMsg34 --- BeiDou -> GPS, ->GLO, -> GAL, ->UTC time offset parameters

// Information is in both D1 and D2, but we are only going to use D1 because

// it is the same data as in D2

//-----------------------------------------------------------------------------

typedef struct

{


int m_A0UTC; //BDT clock bias relative to UTC


340

int m_A1UTC; //BDT clock rate relative to UTC

short m_A0GPS; //BDT clock bias relative to GPS time

short m_A1GPS; //BDT clock rate relative to GPS time

short m_A0GAL; //BDT clock bias relative to Galileo system time

short m_A1GAL; //BDT clock rate relative to Galileo system time

short m_A0GLO; //BDT clock bias relative to GLONASS time

short m_A1GLO; //BDT clock rate relative to GLONASS time

unsigned char m_toa; //Almanac reference time (assuming this is also correct for the time offsets)

unsigned char m_Wna; //almanac week number (assuming this is also correct for the time offsets)

char m_dtls; //Delta time due to leap seconds before the new leap second effective

unsigned char m_wnlsf; //Week number of the new leap second

unsigned char m_dn; //Day number of week of the new leap second

char m_dtlsf; //Delta time due to leap seconds after the new leap second effective

short m_spare1;

short m_spare2;

short m_spare3;

unsigned short m_wCheckSum; //sum of all bytes of the header and data


} SBinaryMsg34; // length = 8+(4+4+2+2+2+2+2+2+1+1+1+1+1+1+2+2+2=32)+2+2 = 8 + (32) + 2 + 2 = 44

#endif

//-----------------------------------------------------------------------------

// SBinaryMsg44

// Galileo Time Conversion Parameters

//-----------------------------------------------------------------------------

typedef struct

{

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

SUnionMsgHeader m_sHead; // Header of message.

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (8 bytes)

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

// Galileo Time to UTC conversion parameters (32 bytes).

double m_A0; // Constant term of polynomial to

// determine UTC from Galileo Time.

double m_A1; // 1st order term of polynomial to


341


unsigned long m_tot; // Reference time for A0 & A1, sec of

// Galileo week.

unsigned short m_wnt; // Current Galileo reference week.

unsigned short m_wnlsf; // GST Week number when m_dtlsf

// becomes effective.

unsigned short m_dn; // Day of the week 1 (= Sunday) to

// 7 (= Saturday) when m_dtlsf


short m_dtls; // Cumulative past leap seconds.

short m_dtlsf; // Scheduled future (past) leap

// seconds.

unsigned short m_wSpare1; // Spare (zero).

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (32 bytes)

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

// GPS Time to Galileo Time conversion parameters (GGTO Parameters).

//

// dTsys = Tgal - Tgps = m_A0G + m_A1G [TOW - m_t0G + 604800*(WN - m_WN0G)]

//

// where,

// dTsys = The time difference between systems

// Tgal = Galileo Time

// Tgps = GPS Time

// TOW = Galileo Time of Week

// WN = Galileo Week Number

// remaining parameters follow.

double m_A0G; // Constant term of GGTO polynomial.

double m_A1G; // 1st order term of GGTO polynomial.

unsigned long m_t0G; // Reference time of week for GGTO.

unsigned short m_WN0G; // Reference week for GGTo.

unsigned short m_wGGTOisValid; // Coded: 0 == GGTO Invalid,

// 1 == GGTO Valid.

// The Galileo OS-SIS-ICD indicates

// that when satellite broadcasts


342

// all 1 bit values for A0G, A1G,

// t0G, and WN0G then "the GGTO is

// considered as not valid."

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (24 bytes)

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

// Message Tail

unsigned short m_wCheckSum; // Sum of all bytes of the header and

// data.

unsigned short m_wCRLF; // Carriage Return Line Feed.

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (4 bytes)

} SBinaryMsg44; // length = 8 + (32+24) + 2 + 2 = 68.

/****************************************************/

/* SBinaryMsg35 */

/****************************************************/

typedef SBinaryMsg95 SBinaryMsg35; //BeiDou ephemeris

/****************************************************/

/* SBinaryMsg30 */

/****************************************************/

typedef SBinaryMsg95 SBinaryMsg30; //BeiDou iono and correctors

/****************************************************/

/* SBinaryMsg45 */

/****************************************************/

typedef SBinaryMsg95 SBinaryMsg45; //Galileo ephemeris

/****************************************************/

/* SMsg61Data */

/****************************************************/

typedef struct

{

unsigned char bySV; /* satellite slot 0 == not tracked */

unsigned char byStatusL1; /* Status bits (code carrier bit frame...) */


343

unsigned char byStatusL2; /* Status bits (code carrier bit frame...) */

unsigned char byL1_L2_DCO; /* 0-3 = upper 4 bits of L1 carrier DCO Phase

* 4-7 = upper 4 bits of L2 carrier DCO Phase

*/

unsigned short wEpochSlewL1; /* 0-9 = slew, 0 to 1000 count for ms of sec

* 10-15 = 6 bits of L1 slip count */

unsigned short wEpochCountL1; /* 0-9 = epoch_count, 0 to 1000 count for ms of sec

* 10-15 = 6 bits of L2 slip count */

unsigned long codeph_SNR_L1; /* 0-20 = L1 code phase (21 bits = 9+12),

* 21-32 = L1 SNR/4096 (upper 11 of 12 bits) */

unsigned long ulCarrierCycles_L1; /* 0-23 = L1 carrier cycles,

* 24-32 = L1 Carrier DCO lower 8 bits */

unsigned long codeph_SNR_L2; /* 0-20 = L2 code phase (21 bits = 9+12),

* 21-32 = L2 SNR/4096 (upper 11 of 12 bits) */

unsigned long ulCarrierCycles_L2; /* 0-23 = L2 carrier cycles,

* 24-32 = L2 Carrier DCO lower 8 bits */

} SMsg61Data; /* 24 bytes */

/****************************************************/

/* SBinaryMsg61 */

/* Comment: Transmits data from TakemeasGLONASS.c */

/* debugging structure for Dual Freq. */

/****************************************************/

typedef struct

{



unsigned long ulSpare; /* 4 bytes */

unsigned short awHalfWarns[CHANNELS_12]; /* 12*2 = 24 bytes */

/* each word is

* bit 0-2 L1 Half Cycle Warn

* bit 3 = L1 half cycle added

* bit 4-6 L2 Half Cycle Warn

* bit 7 = L2 half cycle added


344

* 8 = LSB of 12 bit L1 SNR/4096

* 9 = LSB of 12 bit L2 SNR/4096

* bit 10-15 Ktag of the SV */

SMsg61Data as61Data[CHANNELS_12]; /* 12*24 = 288 bytes */




/****************************************************/

/* SBinaryMsg66 GLONASS OBS (see notes on mesage 76) */

/****************************************************/

typedef struct

{





unsigned long m_ulP_Code; /* Bit [31,24] spare bits */

/* Bit [23,12] Pcode On for m_asL2Obs Obs 0-11, Bit 12 = channel 0*/

/* Bit [11,0] Pcode On for m_asL1Obs Obs 0-11 Bit 0 = channel 0*/

SObsPacket m_asL1Obs[CHANNELS_12]; /* 12 sets of L1(Glonass) observations */

SObsPacket m_asL2Obs[CHANNELS_12]; /* 12 sets of L2(Glonass) observations */

unsigned long m_aulL1CodeMSBsSlot[CHANNELS_12]; /* array of 12 words.

bit 7:0 (8 bits) = satellite Slot, 0

if no satellite

bit 12:8 (5 bits) = spare


of L1 LSB = 256 meters

MSB = 67108864 meters */



345



/****************************************************/

/* SGLONASS_String, added for glonass strings */

/****************************************************/

typedef struct

{

unsigned long m_aul85Bits[3]; /* holds bits 9-85 of the GLONASS string */

/*

* bit order in message 65

* MSB LSB

* m_aul85Bits[0]: 85 84...........54

* m_aul85Bits[1]: 53 52...........22

* m_aul85Bits[2]: 21 20......9

*/

} SGLONASS_String; /* 12 bytes (max of 96 bits) */

/****************************************************/

/* SBinaryMsg65, added by JL for glonass subframe immediate data + string_5 */

/****************************************************/

/* sent only upon command or when values change (not including changes in tk) */

typedef struct

{


unsigned char m_bySV; /* The satellite to which this data belongs. */

unsigned char m_byKtag; /* The satellite K Number + 8. */

unsigned short m_wSpare1; /* Spare, keeps alignment to 4 bytes */

unsigned long m_ulTimeReceivedInSeconds; /* time at which this arrived */

SGLONASS_String m_asStrings[5]; /* first 5 Strings of Glonass Frame (60 bytes) */


346




/*********************************************************************/

/* SBinaryMsg62, Glonass almanac data. Containing string

* 5 and the two string pair for each satellite after string 5.

* String 5 contains the time reference for the glonass almanac

* and gps-glonass time differences.

*

*********************************************************************/

typedef struct

{



unsigned char m_byKtag_ch; /* Proprietary data */

unsigned short m_wSpare1; /* Spare, keeps alignment to 4 bytes */

SGLONASS_String m_asStrings[3]; /* glonass almanac data (36 bytes)

0 & 1 = Two almanac SFs, 3= SF 5*/




/****************************************************/

/* SBinaryMsg42 Galileo(42), BeiDou(32), GPS(92) or QZSS(22) Almanac */

/****************************************************/

typedef struct

{


unsigned char m_bySV; // The satellite to which this data belongs.

unsigned char m_bySpare; // Spare, keeps alignment to 4 bytes


347

unsigned short m_wSpare1; // Spare, keeps alignment to 4 bytes

long alAlmwords[12]; // Almanac words (different for different GNSS)



} SBinaryMsg42; // length = 8 + (4+48=52) + 2 + 2 = 64

typedef SBinaryMsg42 SBinaryMsg22; //QZSS Almanac

typedef SBinaryMsg42 SBinaryMsg32; //BeiDou Almanac

typedef SBinaryMsg42 SBinaryMsg92; //GPS Almanac

typedef struct

{

unsigned char m_ucPRN; /* PRN number */

// For m_ucSatUpperX, m_ucSatUpperY, or m_ucSatUpperZ, the following bit definitions hold:

// [B1,B0] = [B33,B32] of 34 bit absolute value of m_ulSatX, m_ulSatX, or m_ulSatX.

// LSB = [B32] = 33554432 meter

// [B2] = sign bit for m_ulSatX, m_ulSatY, or m_ulSatZ, If set, pos is negative.

// [B6..B3] = [B19,B18,B17,B16] of 20 bit absolute value of m_wSatVx, m_wSatVy, or m_wSatVz.

// LSB = [B16] = 512 meter/sec

// [B7] = sign bit for m_wSatVx, m_wSatVy, or m_wSatVz. If set, vel is negative.

unsigned char m_ucSatUpperX; /* [B7..B0], see above */

unsigned char m_ucSatUpperY; /* [B7..B0], see above */

unsigned char m_ucSatUpperZ; /* [B7..B0], see above */

unsigned short m_wSpare;

unsigned short m_wSatVx; /* [B15..B0] lower 16 Bits of 20 bit absolute value, LSB = 1/128 meter/sec */

unsigned short m_wSatVy; /* [B15..B0] lower 16 Bits of 20 bit absolute value, LSB = 1/128 meter/sec */

unsigned short m_wSatVz; /* [B15..B0] lower 16 Bits of 20 bit absolute value, LSB = 1/128 meter/sec */

unsigned long m_ulSatX; /* [B31..B0] lower 32 Bits of 34 bit absolute value, LSB = 1/128 meter */


348

unsigned long m_ulSatY; /* [B31..B0] lower 32 Bits of 34 bit absolute value, LSB = 1/128 meter */

unsigned long m_ulSatZ; /* [B31..B0] lower 32 Bits of 34 bit absolute value, LSB = 1/128 meter */

} SSatXYZ; // 24 bytes

typedef struct

{


double m_dTow; /* GPS Time in seconds of the receiver clock when the m_asSatXYZ is calculated */

SSatXYZ m_asSatXYZ[CHANNELS_L1_E]; /* 20*15 = 360 bytes */

unsigned short m_wWeek; /* GPS Week Number, */

unsigned char m_ucSysID; /* GPS=0, GLONASS=1, GALILEO=2, BEIDOU=3 */

unsigned char m_ucSpare01; /* padding to 4-byte align */



} SBinaryMsg108; /* length = 8 + (8+360+4) + 2 + 2 = 8 + (372) + 2 + 2 = 384 */

/****************************************************/

/* SBinaryMsg122 */

/****************************************************/

typedef struct

{




unsigned char m_byPhxPosType; // Phoenix position type [1 bytes]

unsigned char m_byCorSource; // Phoenix correction source [1 byte ]

unsigned short m_wBaseStationId; // Base station ID [2 bytes]

unsigned char m_bySatUsedCount[6]; // Satellites used per system [6 bytes]

// [GPS GLN GAL BDS SBAS QZSS]




float m_fAgeOfDiff; // age of differential, seconds [4 bytes]

float m_fVNorth; // North-South Velocity +North m/s [4 bytes]


349

float m_fVEast; // East-West Velocity +East m/s [4 bytes]


float m_fCovNN; // Covariance North-North [4 bytes]

float m_fCovNE; // Covariance North-East [4 bytes]

float m_fCovNU; // Covariance North-Up [4 bytes]

float m_fCovEE; // Covariance East-East [4 bytes]

float m_fCovEU; // Covariance East-Up [4 bytes]

float m_fCovUU; // Covariance Up-Up [4 bytes]




//xx #if defined(WIN32) || (__ARMCC_VERSION>=300441) // all compilers that we use today

#pragma pack(pop)

//xx #endif

#ifdef __cplusplus

}

#endif

#endif // __BinaryMsg_H_

Last updated: v1.11/ November 15, 2018


350

Bin1 Message

Message Type:

Binary Description:

GNSS position message (position and velocity data)


$JBIN,1,r<CR><LF>

where:

'1' = Bin1 message

'r' = message rate in Hz (20, 10, 2, 1, 0, or .2)

Message Format:

Message Component

Description Type Bytes Values

AgeOfDiff Age of differential, seconds. Use Extended AgeOfDiff first. If both = 0, then no differential

Byte 1 0 to 255

NumOfSats Number of satellites used in the GPS solution

Byte 1 0 to 12

GPSWeek GPS week associated with this message

Unsigned short

2 0 to 65535

GPSTimeOfWeek GPS tow (sec) associated with this message

Double 8 0.0 to 604800.0

Latitude Latitude in degrees north Double 8 -90.0 to 90.0

Longitude Longitude in degrees East Double 8 -180.0 to 180.0

Height Altitude above the ellipsoid in meters Float 4

VNorth Velocity north in m/s Float 4

VEast Velocity east in m/s Float 4

Vup Velocity up in m/s Float 4

StdDevResid Standard deviation of residuals in meters

Float 4 Positive


351

NavMode Navigation mode:

0 = No fix 1 = Fix 2d no diff 2 = Fix 3d no diff 3 = Fix 2D with diff 4 = Fix 3D with diff 5 = RTK float 6 = RTK integer fixed

When $JDISNAVMODE,PHOENIX

Is enabled

7 = RTK float (SureFix enabled) 8 = RTK integer fixed (SureFix enabled)

9 = RTK SureFixed 10 = aRTK integer fixed 11 = aRTK float 12 = aRTK Atlas converged

13 = aRTK Atlas un-converged 14 = Atlas converged 15 = Atlas un-converged

If bit 7 is set (left-most bit), then this is a manual position

Unsigned short

2 Bits 0 through 6 = Navmode

Bit 7 = Manual mark

Extended AgeOfDiff

Extended age of differential, seconds. If 0, use 1 byte AgeOfDiff listed above

Unsigned short

2 0 to 65536

Structure:

typedef struct

{


unsigned char m_byAgeOfDiff; /* age of differential, seconds

(255 max)*/

unsigned max) */

char m_byNumOfSats; /* number of satellites used (12



352


double m_dLatitude; /* Latitude degrees, -90..90 */

double m_dLongitude; /* Longitude degrees, -180..180 */

float m_fHeight; /* (m), Altitude ellipsoid */

float m_fVNorth; /* Velocity north m/s */

float m_fVEast; /* Velocity eastm/s */

float m_fVUp; /* Velocity up m/s */

float Residuals */ m_fStdDevResid; /* (m), Standard Deviation of

unsigned short m_wNavMode;

unsigned short m_wAgeOfDiff; /* age of diff using 16 bits */

unsigned short

datalength */

m_wCheckSum; /* sum of all bytes of the




Message has a BlockID of 1 and is 52 bytes, excluding the header and epilogue

Related Commands:

JBIN



353

Bin2 Message

Message Type:

Binary

Description:

GPS DOPs (Dilution of Precision)

This message contains various quantities that are related to the GNSS solution, such as satellites tracked, satellites used, and DOPs.


$JBIN,2,r<CR><LF>

where:

• '2' = Bin2 message

• 'r' = message rate in Hz (1 or 0)

Message Format:

Message Component Description Type Bytes Values

MaskSatsTracked Mask of satellites tracked by the GPS. Bit 0 corresponds to the GPS satellite with PRN 1.

Unsigned long 4 Individual bits represent satellites

MaskSatsUsed Mask of satellites used in the GPS solution. Bit 0 corresponds to the GPS satellite with PRN 1.

Unsigned long 4 Individual bits represent satellites

GpsUtcDiff Whole seconds between UTC and GPS time (GPS minus UTC)

Unsigned short 2 Positive

HDOPTimes10 Horizontal dilution of precision scaled by10 (0.1 units)


VDOPTimes10 Vertical dilution of precision scaled by 10 (0.1 units)


WAASMask PRN and tracked or used status masks

Unsigned short 2 See following


354

• Bit 00 - Mask of satellites tracked by first WAAS satellite

• Bit 01 - Mask of satellites tracked by second WAAS satellite

• Bit 02 - Mask of satellites used by first WAAS satellite

• Bit 03 - Mask of satellites used by second WAAS satellite

• Bit 04 - Unused

Structure:

typedef struct

{


unsigned long m_ulMaskSatsTracked; /* SATS Tracked, bit mapped 0..31 */

unsigned long m_ulMaskSatsUsed; /* SATS Used, bit mapped 0..31 */

unsigned short UTC) */

m_wGpsUtcDiff; /* GPS/UTC time difference (GPS minus

unsigned short m_wHDOPTimes10; /* HDOP (0.1 units) */ unsigned short m_wVDOPTimes10; /* VDOP (0.1 units) */

unsigned short m_wWAASMask; /* Bits 0-1: tracked sats, Bits 2-3:

used sats, Bits 5-9 WAAS PRN 1 minus

120, Bits 10-14 WAAS PRN 1 minus 120

*/

unsigned short m_wCheckSum; /* sum of all bytes of the datalength

*/




Related Commands:

JBIN



355

Bin3 Message

Message Type:

Binary

Description:

Lat/Lon/Hgt, Covariances, RMS, DOPs and COG, Speed,Heading


$JBIN,3,r<CR><LF>

where:

· '3' = Bin3 message

· 'r' = message rate in Hz

Message Format

Message Component


GPSTimeOfWeek GPS tow (sec) associated with this message

Double 8 0.0 to 604800.0


Unsigned short

2 0 to 65535

SATS Tracked Number of satellites tracked in the GPS solution

Unsigned short

2

NumOfSats Number of satellites used in the GPS solution

Byte 2

NAV Mode Navigation mode: 0 = No fix

1 = Fix 2d no diff 2 = Fix 3d no diff 3 = Fix 2D with diff 4 = Fix 3D with diff 5 = RTK float

6 = RTK integer fixed When

$JDISNAVMODE,PHOENIX

enabled

7 = RTK float (SureFix enabled)

8 = RTK integer fixed (SureFix enabled)

9 = RTK SureFixed

10 = aRTK integer fixed 11 = aRTK float

12 = aRTK Atlas converged

unsigned char 1 Bits 0

through 6 = Navmode

Bit 7 = Manual mark


356

13 = aRTK Atlas un-converged 14 = Atlas converged

15 = Atlas un-converged

If bit 7 is set (left-most bit), then this is a manual position

Spare unsigned char 1


Longitude Longitude in degrees East Double 8 -180.0 to

180.0

Height Altitude above the ellipsoid in meters Float 4

Horizontal Speed Velocity horizontal in m/s Float 4

Vup Velocity up in m/s Float 4

COG Course over Ground, degrees Float 4

Heading Heading(degrees), Zero unless vecto

Float 4

Pitch Pitch (degrees), Zero unless vector Float 4

Roll Roll (degrees), Zero unless vector Float 4

AgeOfDiff Age of differential, seconds. Use Extended AgeOfDiff first. If both = 0, then no differential

Unsigned short 2

Attitude Status Attitude Status, zero unless vector

Bits 0 – 3 = status.eYaw

Unsigned short 4


357

Bits 4 – 7 = status.ePitch

Bits 8 – 11 = status.eRoll

Where status can be 0=INVALID, 1=GNSS, 2=Inertial, 3=Magnetic

StdDevHeading Yaw stddev (degrees), zero unless vector

Float 4

StdDevPitch Pitch stddev (degrees), zero unless vector

Float 4

HRMS Horizontal RMS Float 4

VRMS Vertical RMS Float 4

HDOP Horizontal DOP Float 4

VDOP Vertical DOP Float 4

TDOP Time DOP Float 4

CovNN Covaraince North-North Float 4

CovNE Covaraince North-East Float 4

CovNU Covaraince North-Up Float 4

CovEE Covaraince East-East Float 4

CovEU Covaraince East-Up Float 4

CovUU Covaraince Up-Up Float 4

Structure:

typedef struct

{

SUnionMsgHeader m_sHead; //

Double m_dGPSTimeOfWeek; //GPS tow unsigned short m_wGPSWeek; // GPS week

unsigned short m_wNumSatsTracked; // SATS Trackedunsigned

short m_wNumSatsUsed; // SATS Used

unsigned char m_byNavMode; // Nav Mode (same as message 1) unsigned char m_bySpare00; //

Spare

double m_dLatitude; // Latitude degrees, -90..90 doublem_dLongitude; // Longitude degrees, -180..180

float m_fHeight; // (m), Altitude ellipsoid float m_fSpeed; //Horizontal Speed m/s


358

float m_fVUp; // Vertical Velocity +up m/s float m_fCOG; // Course over Ground,

degrees

float m_fHeading; // Heading (degrees), Zero unlessvector float m_fPitch; // Pitch (degrees), Zero

unless vector float

m_fSpare01; // Roll

unsigned short m_wAgeOfDiff; // Age of differential (s).

unsigned short m_wAttitudeStatus; // Attitude Status, zero unless vector

// bit {0-3} = status.eYaw

// bit {4-7} = status.ePitch

// bit {8-11} = status.eRoll

// where status can be 0=INVALID,

// 1=GNSS, 2=Inertial, 3=Magnetic

float m_fStdDevHeading_d; // Yaw stddev (degrees), zero unless vector

float m_fStdDevPitch_d; // Pitch stddev (degrees), zero unless vector

float m_fHRMS; // Horizontal RMS

float m_fVRMS; //Vertical RMS

float m_fHDOP; // Horizontal DOP

float m_fVDOP; // Vertical DOP

float m_fTDOP; // Time DOP

float m_fCovNN; // Covaraince North-North

float m_fCovNE; // Covaraince North-East

float m_fCovNU; // Covaraince North-Up

float m_fCovEE; // Covaraince East-East

float m_fCovEU; // Covaraince East-Up

float m_fCovUU; // Covaraince Up-Up

unsigned short m_wCheckSum; // sum of all bytes of the header and data unsigned short m_wCRLF; //

Carriage Return Line Feed

} SBinaryMsg3; // length = 8 + 116 + 2 + 2 = 128 (108 =74 hex)


Related Commands:

JBIN


359



360

Bin5 Message

Message Type:

Binary

Description:

Base station information


$JBIN,5,r<CR><LF>

where:


• 'r' = message rate in Hz

Message Format

Message Component


Latitude Latitude of base station in degrees north

Double 8 -90.0 to 90.0

Longitude Longitude of base station in degrees east

Double 8 -180.0 to 180.0

Height Base station altitude in meters Float 4

BaseID Base station ID Unsigned short 2 0 to 65535

Spare Unsigned short 2

DiffFormat String giving the format of the differential (i.e. RTCM3)

Char array 16*1 = 16

Spare Unsigned short array

16*2 = 32

Structure:

typedef struct

{


double m_dLatitude; // Base Latitude degrees, -90..90 [8 bytes]

double m_dLongitude; // Base Longitude degrees, -180..180 [8 bytes]

float m_fHeight; // Base Altitude ellipsoid, (m) [4 bytes]

unsigned short m_wBaseID; // BaseID [2 bytes]

unsigned short m_wSpare; // Spare [2 bytes]

char m_szDiffFormat[16]; // String giving format of Differential [16 bytes]


361

unsigned short m_awSpare[16]; // 32 bytes of spare [32 bytes]





Related Commands:

JBIN



362

Bin 6 Message Message Type:

Binary

Description:

Manual Mark Tag

Message Format:

The message is output when the manual mark is triggered.

Structure:

/*****************************************************/

/* SBinaryMsg6 Manual Mark Tag Preceding MM messages*/

/*****************************************************/

typedef struct

{









Related Commands:

Topic Last Updated: June 1, 2018


Time of Week GPS tow (sec) associated with this message

Double 8 0.0 to 604800.0

GPS Week GPS week associated with this message Unsigned short 2 0 to 65535

Spare Spare Unsigned short 2


363

Bin16 Message

Message Type:

Binary

Description:

Generic GNSS observations (see notes on message 76)


$JBIN,16,r<CR><LF>

where:


• 'r' = message rate in Hz (1 or 0)

Message Format:


Tow Time in seconds double 8

Week GPS week number Unsigned short 2 Individual bits represent satellites

Spare1 Not used at this time Unsigned short 2 Future Use

PageCount Page information Unsigned long 4 See following

· [0-15] Spare bits

· [16,17,18,19,20,21] Number of Pages =N

· [22,23,24,25,26,27] Page Number [0...N-1]

· [28,29,30,31] Spare bits

AllSignalsIncluded_ 01

Bit mask of all signals included in the set of pages

Unsigned long 4 See following

bit 0 = GPS:L1CA included

bit 1 = GPS:L2P included

bit 2 = GPS:L2C included


364

bit 3 = GPS:L5 included

bit 7:4 = spare

bit 8 = GLO:G1C or GLO:G1P included

bit 9 = GLO:G2C or GLO:G1P included it 15:10 = spare

bit 16 = GAL:E1BC included

bit 17 = GAL:E5A included

bit 18 = GAL:E5B included

bit 23:19 = spare

bit 24 = BDS:B1I included



bit 31:27 = spare

Message Description Type Bytes Values

AllSignalsInclude d_02

Bit mask of all signals included in the set of pages

Unsigned long 4 See following

· bit 0 = QZS:L1CA included

· bit 1 = spare

•��bit 2 = QZS:L2C included

· bit 3 = QZS:L5 included

· bit 4 = QZS:L1C included

· bit 31:5 = spare

Obs[16] 16 sets of observations Structure array 16*12 =

192

CodeMSBsPRN Array of 16 32-bit words Array of unsigned longs

16*4=64

bit 7:0 (8 bits) = satellite PRN,= 0 if no satellite

· bit 12:8 (5 bits) = Log_Base_2(X+1)

where X = Time, in units of 1/100th sec, since carrier phase tracking was last stressed or cycle slipped


of code pseudorange LSB = 256 meters

MSB = 67108864 meters

ChanSignalSYS Array of 16 16-bit words Array of unsigned shorts

16*2=32


365

· [15,14] spare bits

· [13] = 1 if GLONASS P-Code

· [12,11,10,9,8] = Channel (0 is the first channel)

· [7,6,5,4] = Signal ID (L1CA, L5, G1, B1I, B2I, B3I, etc)

GPS Signal ID: L1CA=0, L2P=1, L2C=2, L5=3

GLO Signal ID: G1C/G1P=0, G2C/G2P=1

GAL Signal ID: E1BC=0, E5A=1, E5B=2

BDS Signal ID: B1I=0, B2I=1, B3I=2

QZS Signal ID: L1CA=0, L2C=2, L5=3, L1C=4

• [3,2,1,0] = GNSS System, 0=GPS,1=GLO,2=GAL,3=BDS,4=QZS

CheckSum Sum of all bytes of header and data

Unsigned short 2

CRLF Carriage return line feed Unsigned short 2

Structure:

typedef struct

{






//[16,17,18,19,20,21] Number of Pages = N

//[22,23,24,25,26,27] Page Number [0...N-1]

//[28,29,30,31] Spare bits






// bit 7:4 = spare

// bit 8 = GLO:G1C or GLO:G1P

included

included


366

// bit 9 = GLO:G2C or GLO:G1P











// bit 1 = spare




// bit 31:5 = spare



PRN,

satellite

Log_Base_2(X+1) units of 1/100th sec,

// bit 7:0 (8 bits) = satellite

// = 0 if no

// bit 12:8 (5 bits) =

// where X = Time, in

tracking was last stressed

bits meters


367

67108864 meters

// since carrier phase

// or cycle slipped

// bit 31:13 (19 bits) = upper 19

// of code pseudorange LSB = 256

// MSB =


first channel)

G1, B1I, B2I, B3I, etc) L2C=2, L5=3

G2C/G2P=1 E5B=2

L5=3, L1C=4 0=GPS,1=GLO,2=GAL,3=BDS,4=QZS



//[12,11,10,9,8] = Channel (0 is the

//[7,6,5,4] = Signal ID (L1CA, L5,

// GPS Signal ID: L1CA=0, L2P=1,

// GLO Signal ID: G1C/G1P=0,

// GAL Signal ID: E1BC=0, E5A=1,

// BDS Signal ID: B1I=0, B2I=1, B3I=2

// QZS Signal ID: L1CA=0, L2C=2,

//[3,2,1,0] = GNSS System,

unsigned short and data (2 bytes)

m_wCheckSum; /// sum of all bytes of the header

unsigned short (2 bytes) m_wCRLF; // Carriage Return Line Feed

} SBinaryMsg16; // length = 8 +

(8+2+2+4+4+4+192+64+32=312) + 2 + 2 = 324


Related Commands:

JBIN



368


369

Bin19 Message

Message Type:

Binary

Description:

GNSS diagnostic information


$JBIN,19,r<CR><LF>

where:


· 'r' = message rate in Hz (1 or 0)

Message Format:


SecOfWeek Time of Week long 4

GPSWeek GPS Week Number unsigned short 2

NavMode Nav Mode unsigned char 1 0-255

UTCTimeDiff Whole seconds between UTC and GPS time

char 1

PageCount Information about the paging of the BIN19 message.

unsigned long 4 Bits [16,17,18,19,20,21] Number of Pages = N Bits [22,23,24,25,26,27] Page Number [0...N-1]

AllSignalsIncludes01 Bitmask of all signals includes in this set of pages

unsigned long 4 bit 0 = GPS:L1CA included bit 1 = GPS:L2P included bit 2 = GPS:L2C included bit 3 = GPS:L5 included

bit 8 = GLO:G1C or GLO:G1P included bit 9 = GLO:G2C or GLO:G1P included bit 16 = GAL:E1BC included

bit 17 = GAL:E5A included bit 18 = GAL:E5B included bit 24 = BDS:B1I included bit 25 = BDS:B2I included bit 26 = BDS:B3I included

AllSignalsIncluded02 Continued bitmask of all signals included in this set of pages.

unsigned long 4 bit 0 = QZS:L1CA included bit 2 = QZS:L2C included bit 3 = QZS:L5 included

bit 4 = QZS:L1C included


370

Spare unsigned short 2

ChannelData[16] Detailed data for each signal included.

SGENERICchanData[] 320

ChanSignalSYS Information about the type of signal represented by each entry in ChannelData

unsigned short[] 32 [13] = 1 if GLONASS P-Code

[12,11,10,9,8] = Channel (0 is the first channel) [7,6,5,4] = Signal ID (L1CA, L5, G1, B1I, B2I, B3I, etc) GPS Signal ID = 0: L1CA, 1: L2P, 2: L2C, 3: L5 GLO Signal ID = 0: G1C/G1P, 1: G2C/G2P

GAL Signal ID = 0: E1BC, 1: E5A, 2:E5B BDS Signal ID = 0: B1I, 1: B2I, 2:B3I

QZS Signal ID = 0: L1CA, 1: xxx, 2:L2C, 3: L5, 4:

L1C

[3,2,1,0] = GNSS System, 0=GPS,1=GLO,2=GAL,3=BDS,4=QZS

CheckSum Sum of all bytes of header and data

Unsigned short 2

CRLF Carriage return line feed

Unsigned short 2

Structure:

//=====================================================================

// SGENERICchanData

//=====================================================================

typedef struct

{

unsigned char m_bySV; // Bit (0-6) = SV slot, 0 == not trackedunsigned char m_byAlm_Ephm_Flags; // ephemeris and almanac status flags




// bit 3: unused



// bit 6: unused

// bit 7: Satellite doesn't exist unsigned char m_byStatus; // Status bits (code carrier bit frame...) char m_chElev; // elevation angle

unsigned char m_byAzimuth; // 1/2 the Azimuth angleunsigned char m_byLastMessage; // last message processedunsigned char m_bySlip; // cycle slip on chan 1 char m_cFlags; //

// [0] bChanEnabled



371

unsigned short m_wCliForSNR; // code lock indicator for SNR divided by 32 short m_nDiffCorr; // Differential correction * 100

short m_nDoppHz; // expected doppler in HZ at B1 frequency short m_nNCOHz; // track from NCO in HZ

short m_nPosResid; // position residual * 1000 unsignedshort m_wAllocType; //

} SGENERICchanData; // (20 bytes)

//-----------------------------------------------------------------------------

// SBinaryMsg19

// Generic GNSS message for signal tracking status

//-----------------------------------------------------------------------------

typedef struct

{


long m_lSecOfWeek; // tow (4 bytes)

unsigned short m_wGPSWeek; // GPS Week Number (2 bytes)

unsigned char m_byNavMode; // Nav Mode FIX_NO, FIX_2D, FIX_3D (high bit =has_diff)

char m_cUTCTimeDiff; // whole Seconds between UTC and GPS unsigned long m_uPageCount; // [0-15] Spare bits (4 bytes)

// [16,17,18,19,20,21] Number of Pages = N

// [22,23,24,25,26,27] Page Number [0...N-1]

// [28,29,30,31] Spare bits

// Bit mask of all signals included in the set of pages unsigned long m_uAllSignalsIncluded_01; // bit 0 = GPS:L1CA included




// bit 7:4 = spare




372









// bit 31:27 = spare unsigned long m_uAllSignalsIncluded_02; // bit 0 = QZS:L1CA included

// bit 1 = spare




// bit 31:5 = spare

short m_nClockErrAtL1;// clock error at L1, Hz (2 bytes)unsigned short m_wSpare1; // spare (2 bytes)

SGENERICchanData m_asChannelData[CHANNELS_gen]; // channel data 16x20 = 320






// GPS Signal ID = 0: L1CA, 1: L2P, 2: L2C, 3: L5

// GLO Signal ID = 0: G1C/G1P, 1: G2C/G2P

// GAL Signal ID = 0: E1BC, 1: E5A, 2:E5B

// BDS Signal ID = 0: B1I, 1: B2I, 2:B3I

// QZS Signal ID = 0: L1CA, 1: xxx, 2:L2C, 3: L5,

4: L1C


unsigned short

m_wCheckSum;

// sum of all bytes of the header and data

unsigned short

} SBinaryMsg19;

m_wCRLF; // Carriage Return Line Feed

// length = 8+(4+2+1+1+4+4+4+2+2+320+32)+2+2 = 8 + (376) + 2 + 2 =


373


Related Commands:



374

Bin22 Message

Message Type:

Binary

Description:

QZSS Almanac


$JBIN,22,r<CR><LF>

where:

'22' = Bin22 message

'r' = 1 to turn on the message, 0 to turn off the message

Message Format:

Message Component

Description Type Bytes

PRN Satellite PRN Unsigned char

1

Spare1 Spare Unsigned char

1


2

Almwords Almanac Words

alAlmwords[0] toa

alAlmwords[1]

alAlmwords[2] e

alAlmwords[3] ω

alAlmwords[4] M0

alAlmwords[5]

alAlmwords[6]

alAlmwords[7]

alAlmwords[8] SV Health

alAlmwords[9] WNa

Long[12] 12*4 = 48


375

All of the scalefactors, number of bits, and units can be found in the BeiDou ICD on page 37:

http://en.beidou.gov.cn/SYSTEMS/ICD/201806/P020180608523308843290.pdf

Structure:

//-----------------------------------------------------------------------------

// SBinaryMsg22

// QZSS Almanac

//-----------------------------------------------------------------------------

typedef struct

{





long alAlmwords[12]; // Almanac words





Related Commands:

Topic Last Updated: v2.0 / April 30, 2019



376

Bin32 Message

Message Type:

Binary

Description:

BeiDou Almanac


$JBIN,32,r<CR><LF>

where:



Message Format:

Message Component



1


1


2


alAlmwords[0] toa

alAlmwords[1]

alAlmwords[2] e

alAlmwords[3] ω

alAlmwords[4] M0

alAlmwords[5]

alAlmwords[6]

alAlmwords[7]

alAlmwords[8] [a0 |a1 |Health]

Bits [30:20|19:9|8:0]

alAlmwords[9] WNa

Long[12] 12*4 = 48


377

All of the scalefactors, number of bits, and units can be found in the BeiDou ICD on page 37:


Structure:

//-----------------------------------------------------------------------------

// SBinaryMsg32

// BeiDou Almanac

//-----------------------------------------------------------------------------

typedef struct

{










Related Commands:

Topic Last Updated: v2.0 April, 30, 2019



378

Bin 34 Message

Message Type:

Binary

Description:

BeiDou -> GPS, ->GLO, -> GAL, ->UTC time offset parameters


$JBIN,34,r<CR><LF>

where:


'r' = message rate in Hz (1 or 0)

Message Format:


A0UTC, A1UTC BDT clock bias relative to UTC

Int 4 x 2=8

A0GPS, A1GPS BDT click bias relative to GPS time

Unsigned short 2 x 2=4

A0GAL, A1GAL

A0GLO, A1GLO

Toa

BDT clock bias relative to Galileo system time

BDT clock bias relative to GLONASS time

Almanac reference time

Unsigned short

Unsigned short

Unsigned char

2 x 2=4

2 x 2=4

1

Wna

Dtls

Almanac week number

Delta time due to leap seconds before the new leap second effective

Unsigned char

Char

1

1

Wnlsf Week number of the new leap second

Unsigned char 1


379

Dn Day number of week of the new leap second

Unsigned char 1

Dtslf Delta time due to leap seconds after the new leap second effective

Char 1

Spare1 Short 2 Future use



Structure:

//-----------------------------------------------------------------------------

// SBinaryMsg34 --- BeiDou -> GPS, ->GLO, -> GAL, ->UTC time offset parameters

// Information is in D1

//-----------------------------------------------------------------------------

typedef struct

{


int m_A0UTC; //BDT clock bias relative to UTC

int m_A1UTC; //BDT clock rate relative to UTC

short m_A0GPS; //BDT clock bias relative to GPS time

short m_A1GPS; //BDT clock rate relative to GPS time

short m_A0GAL; //BDT clock bias relative to Galileo system time

short m_A1GAL; //BDT clock rate relative to Galileo system time

short m_A0GLO; //BDT clock bias relative to GLONASS time

short m_A1GLO; //BDT clock rate relative to GLONASS time

unsigned char m_toa; //Almanac reference time (assuming this is also correct for the time offsets)

unsigned char m_Wna; //Almanac week number (assuming this is also correct for the time offsets)

char m_dtls; //Delta time due to leap seconds before the new leap second effective

unsigned char m_wnlsf; //Week number of the new leap second


380

unsigned char m_dn; //Day number of week of the new leap second

char m_dtlsf; //Delta time due to leap seconds after the new leap second effective

short m_spare1;

short m_spare2;

short m_spare3;

unsigned short m_wCheckSum; //sum of all bytes of the header and data


} SBinaryMsg34; // length = 8+(4+4+2+2+2+2+2+2+1+1+1+1+1+1+2+2+2=32)+2+2 = 8 + (32) + 2 + 2 = 44


Related Commands:

Topic Last Updated: v1.10 June 1, 2018


381

Bin35 Message

Message Type:

Binary

Description:

BeiDou ephemeris information


$JBIN,35,r<CR><LF>

where:


''r' = 1 (on) or 0 (off),

When set to on the message is sent once (one message for each tracked satellite at 1 second intervals) and then sent again whenever satellite information changes

Message Format:

Message Component


SV Satellite to which this data belongs Unsigned short 2

Spare1 Not used at this time Unsigned short 2 Future use

SecOfWeek Time at which this arrived (LSB=6) Unsigned long 4

BeiDouNav[30] Unparsed BeiDou Navigation message

See following 4 x 30 =

120


382

Elements correspond to the ephemeris values as defined in the BeiDou ICD:

1. Element 00, BDS_tow, Unsigned (4 bytes)

2. Element 01, BDS_toc, Unsigned (4 bytes)

3. Element 02, BDS_a0, Signed (4 bytes)

4. Element 03, BDS_a1,Signed (4 bytes)

5. Element 04, BDS_a2, Signed (4 bytes)

6. Element 05, BDS_toe, Unsigned (4 bytes)

7. Element 06, BDS_Root_A, Unsigned (4 bytes)

8. Element 07, BDS_Eccentricity, Unsigned (4 bytes)

9. Element 08, BDS_omega_perigee, Signed (4 bytes)

10. Element 09, BDS_DeltaN_MeanMotionDiff, Signed (4 bytes)

11. Element 10, BDS_M_MeanAnomaly, Signed (4 bytes)

12. Element 11, BDS_OMEGA0_Lon_Ascending, Signed (4 bytes)

13. Element 12, BDS_OMEGA_DOT, Signed (4 bytes)

14. Element 13, BDS_io_InclinationAngle, Signed (4 bytes)

15. Element 14, BDS_IDOT_RateInclination, Signed (4 bytes)

16. Element 15, BDS_Cuc_AmpCosHarmonicLat, Signed (4 bytes)

17. Element 16, BDS_Cus_AmpSinHarmonicLat, Signed (4 bytes)

18. Element 17, BDS_Crc_AmpCosHarmonicRadius, Signed (4bytes)

19. Element 18, BDS_Crs_AmpSinHarmonicRadius, Signed (4bytes)

20. Element 19, BDS_Cic_AmpCosHarmonicInclination, Signed (4 bytes)

21. Element 20, BDS_Cir_AmpSinHarmonicInclination, Signed (4 bytes)

22. Element 21, BDS_TGD1_TGD2, Unsigned (4 bytes) TGD1 in lower 10 bits (bits 0-9)

TGD2 in next 10 bits (10-19)

23. Element 22, BDS_WN, Unsigned (4 bytes)

24. Element 23, BDS_alpha_0_1_2_3, Unsigned (4 bytes)

Packed with 4, 8-bit words, exactly as defined in the BeiDou ICD Alpha3 in lower 8 bits (bits 0-7)

Alpha2 in next 8 bits (bits 8-15) Alpha1 in next 8 bits (bits 16-23) Alpha0 in upper 8 bits (bits 24-31)

25. Element 24, BDS_beta_0_1_2_3, Unsigned (4 bytes)

Packed with 4, 8-bit words, exactly as defined in the BeiDou ICD Beta3 in lower 8 bits (bits 0-7)

Beta2 in next 8 bits (bits 8-15) Beta1 in next 8 bits (bits 16-23) Beta0 in upper 8 bits (bits 24-31)


383

26. Element 25, BDS_SatH1_IODC_URA1_IODE, Unsigned (4 bytes) IODE in lower 5 bits (bits 0-4)

URA1 in next 4 bits (bits 5-8) IODC in next 5 bits (bits 9-13) SatH1in next 1 bit (bit 14)

27. Element 26, spare (4 bytes)




Structure:

typedef struct

{


unsigned short m_wSV; /* The satellite to which this data belongs*/

unsigned short m_wSpare1; /* spare 1 (chan number (as zero 9/1/2004) */

unsigned long m_TOW6SecOfWeek; /* time at which this arrived (LSB= 6sec)

*/

unsigned long m_BeidouNav[30]; /* Unparsed BeiDou navigation words.

*/

Read needed. */

/* Each of the BeiDou nav words contains one 32- bit signed or unsigned word.

as a signed or unsigned long as

unsigned short m_wCheckSum; /* sum of all bytes of the header and

data */





Related Commands:

JBIN



384

Bin36 Message

Message Type:

Binary

Description:

BeiDou code and carrier phase information (all frequencies)


$JBIN,36,r<CR><LF>

where:

•��'36' = Bin36 message

• 'r' = message rate in Hz (20, 10, 2, 1, or 0)

Message Format:


Tow Time in seconds Double 2

Week GPS week number Unsigned short 2

Spare1 Spare 1 (zero) Unsigned short 2

FreqPage See following Unsigned long 4

31. Bits 0-19 (20 bits) Spare bits

32. Bits 20-23 (4 bits) Number of pages

33. Bits 24-27 (4 bits) Page number

34. Bits 28-31 (4 bits)

Signal ID (0 = B1I, 1 = B2I, 2 = B3I)

Obs[CHANNELS_20] 20 sets of BeiDou observations

SObsPacket 20 x 12

= 240

1CodeMSBsPRN[CHANNELS_20] See following Unsigned long 20 x 4 =

80


385

• Bits 0-7 (8 bits)

Satellite PRN, 0 if no satellite

• Bits 8-12 (5 bits) Spare bits

• Bits 13- 31 (19 bits)

Upper 19 bits of B1/B2/B3, LSB = 256 meters, MSB = 67108864 meters

Structure:

typedef struct

{





unsigned long m_uFreqPage; //[0-19] Spare bits


//[24,25,26,27] Page Number


SObsPacket m_asObs[CHANNELS_20]; // 20 sets of BeiDou observations (20*12=240 bytes)

unsigned long m_aulCodeMSBsPRN[CHANNELS_20]; // array of 20 words (20*4=80 bytes)

// bit 7:0 (8 bits) = satellite PRN, 0

// if no satellite

// bit 12:8 (5 bits) = spare


// of B1/B2/B3 LSB = 256 meters

// MSB = 67108864 meters



} SBinaryMsg36; // length = 8 + (8+2+2+4+240+80=336) + 2 + 2 = 348

//-----------------------------------------------------------------------------


386

// SBinaryMsg16 Generic GNSS observations (see notes on mesage 76)

// 12 observations per message, multiple pages of messages, See BIN_MSG_HEAD_TYPE16

//-----------------------------------------------------------------------------

typedef struct

{






//[16,17,18,19,20,21] Number of Pages = N

//[22,23,24,25,26,27] Page Number [0...N-1]

//[28,29,30,31] Spare bits






// bit 7:4 = spare



// bit 10 = Spare

// bit 11 = Spare




// bit 15 = spare









387









// bit 1 = spare





// bit 31:6 = spare



// bit 7:0 (8 bits) = satellite PRN,

// = 0 if no satellite

// bit 12:8 (5 bits) = Log_Base_2(X+1)

// where X = Time, in units of 1/100th sec,

// since carrier phase tracking was last stressed

// or cycle slipped


// of code pseudorange LSB = 256 meters

// MSB = 67108864 meters











388

// QZS Signal ID: L1CA=0, L2C=2, L5=3, L1C=4




} SBinaryMsg16; // length = 8 + (8+2+2+4+4+4+192+64+32=312) + 2 + 2 = 324

//=====================================================================

// SGENERICchanData (was called SBEIDOUChanData)

//

// Note: Currently we have some redundant stuff in all 3 pages

// perhaps we should eliminate the redundant stuff

// and only put in page 1 and not 2 & 3???

//=====================================================================

typedef struct

{

unsigned char m_bySV; // Bit (0-6) = SV slot, 0 == not tracked

unsigned char m_byAlm_Ephm_Flags; // ephemeris and almanac status flags




// bit 3: unused



// bit 6: unused

// bit 7: Satellite doesn't exist

unsigned char m_byStatus; // Status bits (code carrier bit frame...)

char m_chElev; // elevation angle

unsigned char m_byAzimuth; // 1/2 the Azimuth angle

unsigned char m_byLastMessage; // last message processed

unsigned char m_bySlip; // cycle slip on chan 1

char m_cFlags; // RFR_150501 was m_cSpare1;

// [0] bChanEnabled



389

unsigned short m_wCliForSNR; // code lock indicator for SNR divided by 32

short m_nDiffCorr; // Differential correction * 100

short m_nDoppHz; // expected doppler in HZ at B1 frequency


short m_nPosResid; // position residual * 1000

unsigned short m_wAllocType; //RFR_150501 was m_nSpare2

} SGENERICchanData; //Changed to generic B1/B2/B3 message 3/18/2013 (20 bytes)


Related Commands:

JBIN



390

Bin42 Message

Message Type:

Binary

Description:

Galileo Almanac


$JBIN,42r<CR><LF>

where:



Message Format:

Message Component



1


1


2


alAlmwords[0] WNa

alAlmwords[1] toa

alAlmwords[2]

alAlmwords[3] e

alAlmwords[4]

alAlmwords[5]

alAlmwords[6]

alAlmwords[7] ω

alAlmwords[8] M0

alAlmwords[9] af0

alAlmwords[10] af1

Long[12] 12*4 = 48


391

alAlmwords[11] [E5aHS | E5bHS | E1BHS]

Bits [2|2|2]

All of the scalefactors, number of bits, and units can be found in the Galileo ICD on page 53:

https://www.gsc-europa.eu/system/files/galileo_documents/Galileo-OS-SIS-ICD.pdf

Structure:

//-----------------------------------------------------------------------------

// SBinaryMsg42

// Galileo Almanac

//-----------------------------------------------------------------------------

typedef struct

{










Related Commands:


https://www.gsc-europa.eu/system/files/galileo_documents/Galileo-OS-SIS-ICD.pdf


392

Bin44 Message

Message Type:

Binary

Description:

Galileo time conversion parameters


$JBIN,44,r<CR><LF>

where:


'r' = 1 (on) or 0 (off)

When set to on the message is sent once and then sent again whenever satellite information changes

Message Format:

Message Component


A0, A1 Coefficients for determining UTC time Double 8 x 2 = 16

tot Reference time for A0 and A1, second of Galileo week

Unsigned long 4

wnt Current Galileo reference week Unsigned short 2

wnlsf Week number when dtlsf becomes effective

Unsigned short 2

dn Day of week (1-7) when dtlsf becomes effective

Unsigned short 2

dtls Cumulative past leap seconds Short 2

dtlsf Scheduled future leap seconds Short 2

Spare Not used at this time Short 2 Future use

A0G, A1G Coefficients of GGTO polynomial Double 8 x 2 = 16

T0G Reference time of week for GGTO Unsigned long 4

WN0G Reference week for GGTO Unsigned short 2

GGTOisValid Indicates if GGTO is valied Unsigned short 2 0 = GGTO Invalid

1 = GGTO Valid.


393

CheckSum Sum of all bytes of header and data Unsigned short 2

CRLF Carriage return line feed Unsigned short 2

Structure:

typedef struct

{

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

SUnionMsgHeader m_sHead; // Header of message.

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (8 bytes)

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

// Galileo Time to UTC conversion parameters (32 bytes).

double m_A0; // Constant term of polynomial to


double m_A1; // 1st order term of polynomial to

// determine UTC from Galileo Time.unsigned long m_tot; // Reference time for A0 & A1, sec of

// Galileo week.

unsigned short m_wnt; // Current Galileo reference week. unsigned short m_wnlsf; // GST Week number when m_dtlsf


unsigned short m_dn; // Day of the week 1 (= Sunday) to

// 7 (= Saturday) when m_dtlsf


short m_dtls; // Cumulative past leapseconds. short m_dtlsf; // Scheduled futre (past) leap

// seconds. unsigned short m_wSpare1; // Spare (zero).

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (32 bytes)

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

// GPS Time to Galileo Time conversion parameters (GGTO Parameters).

//

// dTsys = Tgal - Tgps = m_A0G + m_A1G [TOW - m_t0G + 604800*(WN - m_WN0G)]

//

// where,

// dTsys = The time difference between systems


394

// Tgal = Galileo Time

// Tgps = GPS Time

// TOW = Galileo Time of Week

// WN = Galileo Week Number

// remaining parameters follow.

double m_A0G; // Constant term of GGTOpolynomial. double m_A1G; // 1st order term of GGTO polynomial. unsigned long m_t0G; // Reference time of week for GGTO. unsignedshort m_WN0G; // Reference week for GGTo.

unsigned short m_wGGTOisValid; // Coded: 0 == GGTO Invalid,

// 1 == GGTO Valid.

// The Galileo OS-SIS-ICD indicates

// that when satellite broadcasts

// all 1 bit values for A0G, A1G,

// t0G, and WN0G then "the GGTO is

// considered as not valid."

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (24 bytes)

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

// Message Tail

unsigned short m_wCheckSum; // Sum of all bytes of the header and

// data.

unsigned short m_wCRLF; // Carriage Return Line Feed.

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (4 bytes)

} SBinaryMsg44; // length = 8 + (32+24) + 2 + 2 = 68.



Related Commands:

JBIN



395

Bin45 Message

Message Type:

Binary

Description:

Galileo ephemeris information


$JBIN,45,r<CR><LF>

where:


''r' = 1 (on) or 0 (off),


Message Format:

Message Component


SV Satellite to which this data belongs

Unsigned short 2


SecOfWeek Time at which this arrived (LSB = 6)

Unsigned long 4

SF1words[10] Unparsed SF 1 message Unsigned long 4 x 10 = 40



Structure:

typedef struct

{


unsigned short m_wSV; /* The satellite to which this data belongs.

*

/



396

unsigned long m_TOW6SecOfWeek; /* time at which this arrived (LSB = 6sec)

*

/

unsigned long m_SF1words[10]; /* Unparsed SF 1 message words. */ unsigned long m_SF2words[10]; /* Unparsed SF 2 message words. */ unsigned long m_SF3words[10]; /* Unparsed SF 3 message words.*/



30 bits, The upper two bits are ignored Bits are placed in the words from left to

right as they are received */

unsigned short unsigned short

} SBinaryMsg95;

m_wCheckSum; m_wCRLF;

/*

/*

/*

sum of all bytes of the datalength */ Carriage Return Line Feed */

length = 8 + (128) + 2 + 2 = 140 */



Related Commands:

JBIN



397

Bin62 Message

Message Type:

Binary, GLONASS

Description:

GLONASS almanac information


$JBIN,62,r<CR><LF>

where:



Message Component


SV Satellite to which this data belongs Byte 1

Ktag_ch Proprietary data Byte 1

Spare1 Spare, keeps alignment to 4 bytes Unsigned short 2

Strings[3] GLONASS almanac data (36 bytes)

• 0 & 1 = Two almanac SFs

• 3= SF 5

SGLONASS string 36

Structure:

typedef struct

{



unsigned char m_byKtag_ch; /* Proprietary data */

unsigned short m_wSpare1; /* Spare, keeps alignment to 4 bytes */ SGLONASS_String m_asStrings[3]; /* glonass almanacdata (36 bytes)

0 & 1 = Two almanac SFs, 3= SF 5*/ unsigned short m_wCheckSum; /* sum of all bytes of the datalength */ unsigned short m_wCRLF; /* Carriage Return Line Feed */



398


Related Commands:

JBIN



399

Bin65 Message

Message Type

Binary, GLONASS

Description:

GLONASS ephemeris information


$JBIN,65,r<CR><LF>

where:


''r' = 1 (on) or 0 (off),


Message Format:


SV Satellite to which this data belongs

Byte 1

Ktag Satellite K Number + 8 Byte 1

Spare1 Spare, keeps alignment to 4 bytes

Unsigned short 2

TimeReceivedInSeconds Time at which this arrived Unsigned long 4

Strings[5] First five strings of GLONASS frame (60 bytes)

SGLONASS string 60

Structure:

typedef struct

{




400

unsigned char m_byKtag; /* The satellite K Number + 8. */ unsignedshort m_wSpare1; /* Spare, keeps alignment to 4 bytes*/ unsigned long m_ulTimeReceivedInSeconds; /* time at which this arrived */

SGLONASS_String m_asStrings[5]; /* first 5 Strings of Glonass Frame (60 bytes)

*/

unsigned short m_wCheckSum; /* sum of all bytes of the datalength */




Related Commands:

JBIN



401

Bin66 Message Message Type:

Binary, GLONASS

Description:

GLONASS L1/L2 code and carrier phase information


$JBIN,66,r<CR><LF>

where:


'r' = message rate in Hz (20, 10, 2, 1, or 0)

Message Format:


Tow Time in seconds Double

Week GPS week number Unsigned short

Spare1 Spare 1 (zero) Unsigned short

Spare2 Spare 2 (zero) Unsigned long

L1Obs[CHANNELS_12] 12 sets of L1 (GLONASS)

observations

SObsPacket

L2Obs[CHANNELS_12] 12 sets of L2 (GLONASS)

observations

SObsPacket

L1CodeMSBsSlot[CHANNELS_12] See following Unsigned long


Satellite slot, 0 if no satellite

• Bits 8-12 (5 bits) Spare bit

• Bits 13- 31 (19 bits)

Upper 19 bits of L1, LSB = 256 meters, MSB = 67108864 meters

Structure:


402

typedef struct

{




unsigned short m_wSpare1; /* spare 1 (zero)*/ unsigned long m_ulSpare2; /* spare 2 (zero)*/

SObsPacket m_asL1Obs[CHANNELS_12]; /* 12 sets of L1(Glonass)

observations */ SObsPacket m_asL2Obs[CHANNELS_12]; /* 12 sets of L2(Glonass)

observations */ unsigned long m_aulL1CodeMSBsSlot[CHANNELS_12]; /* array of 12 words.

bit 7:0 (8 bits) =

satellite Slot, 0 if no satellite

spare

*/

bit 12:8 (5 bits) =

bit 31:13 (19 bits) = upper 19 bits of L1 LSB

= 256 meters

MSB = 67108864 meters

unsigned short m_wCheckSum; /* sum of all bytes of thedatalength */ unsignedshort m_wCRLF; /* Carriage Return Line Feed */



Related Commands:

JBIN



403


Binary, GLONASS

Description:

GLONASS L1/L2diagnostic information


$JBIN,69,r<CR><LF>

where:



Message Format:


SecOfWeek Tow Long

L1usedNavMask Mask of L1 channels used in nav solution

Unsigned short

L2usedNavMask Mask of L2 channels used in nav solution

Unsigned short

ChannelData[CHANNELS_12] Channel data 12X24 = 288

SGLONASSChanData

Week Week Unsigned short

Spare01 Spare 1 Unsigned char

Spare02 Spare 2 Unsigned char

Structure:

typedef struct

{






404

SGLONASSChanData m_asChannelData[CHANNELS_12]; /* channel data 12X24 = 288

*/

unsigned short m_wWeek; /* week */ unsignedchar m_bySpare01; /* spare 1 */ unsignedchar m_bySpare02; /* spare 2 */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength */ unsigned short m_wCRLF; /* Carriage Return Line Feed */



Related Commands:

JBIN



405


Binary

Description:

GPS L1/L2 code and carrier phase information

Note:

"Code" means pseudo range derived from code phase. "Phase" means range derived from carrier phase. This will contain cycle ambiguities.

Only the lower 16 bits of L1P code, L2P code and the lower 23 bits of carrier phase are provided. The upper 19 bits of the L1CA code are found in m_aulCACodeMSBsPRN[]. The upper 19 bits of L1P or L2P must be derived using the fact L1P and L2P are within 128 m (419.9 ft) of L1CA.

To determine L1P or L2P:

1. Use the lower 16 bits provided in the message.

2. Set the upper bits to that of L1CA.

3. Add or subtract on LSB of the upper bits (256 meters (839.9 feet)) so that L1P or L2P are with in 1/2 LSB (128 m (419.9ft))

The carrier phase is in units of cycles, rather than meters, and is held to within 1023 cycles of the respective code range. Only the lower 16+7 = 23 bits of carrier phase are transmitted in Bin 76.

To determine the remaining bits:

1. Convert the respective code range (determined above) into cycles by dividing by the carrier wave length. This is the nominal reference phase.

2. Extract the 16 and 7 bit blocks of carrier phase from bin 76 and arrange it to form the lower 23 bits of carrier phase.

3. Set the upper bits (bit 23 and above) equal to those of the nominal reference phase

4. Add or subtract the least significant upper bit (8192 cycles) so that carrier phase most closely agrees with the nominal reference phase (to within 4096 cycles).


$JBIN,76,r<CR><LF>

where:

'76' = Bin76message


Message Format:


TOW Predicted GPS time in seconds Double 8


Spare1 Unsigned long 2


406

Spare2 Unsigned long 4

L2PSatObs[12]

(array for next 3 fields)

L2 satellite observation data Structure array 12 x 12 =

144

CS_TT_W3_SNR See following Unsigned long 4

• Bits 0-11 (12 bits)

SNR; 10.0 X log10(0.1164xSNR_value)

• Bits 12-14 (3 bits)

Cycle Slip Warn (warning for potential 1/2 cycle slips); a warning exists if any of these bits are

set

• Bit 15 (1 bit)

Long Track Time;1 if Track Time > 25.5 sec (0 otherwise)

• Bits 16-23 (8 bits)

Track Time (signal tracking time in seconds); LSB = 0.1 seconds; Range = 0 to 25.5 seconds

• Bits 24-31 (8 bits)

Cycle Slips; increments by 1 every cycle slip with natural roll-over after 255

P7_Doppler_FL See following Unsigned long 4

• Bit 0 (1 bit)

Phase Valid (Boolean);1 if valid phase (0 otherwise)

• Bits 1-23 (23 bits)

Doppler (magnitude of Doppler);LSB = 1/512 cycle/sec; Range = 0 to 16384 cycle/sec

• Bit 24 (1 bit)

Doppler Sign (sigh of Doppler);1 = negative, 0 = positive

• Bits 25-31 (7 bits)

Carrier Phase (High part) (Upper 7 bits of the 23 bit carrier phase): LSB = 64 cycles, MSB = 4096 cycles

CodeAndPhase See following Unsigned long 4


407

• Bits 0-15 (16 bits)

Pseudorange (lower 16 bits of code pseudorange);LSB = 1/256 meters, MSB = 128 meters

Note: For CA code, the upper 19 bits are given in L1CACodeMSBsPRN[] below

• Bits 16-31 (16 bits)

Carrier Phase (lower 16 bits of the carrier phase); LSB = 1/1024 cycles, MSB = 32 cycles

Note: The 7 MSBs are given in P7_Doppler_FL (see preceding row in this table)

L1CASatObs[15]

(array for next 3 fields)

L1 satellite code observation data

Structure array 15 x 12 =

180

CS_TT_W3_SNR See following Unsigned long 4

• Bits 0-11 (12 bits)

SNR; 10.0 X log10(0.1024xSNR_value)

• Bits 12-14 (3 bits)

Cycle Slip Warn (warning for potential 1/2 cycle slips); a warning exists if any of these bits are set

• Bit 15 (1 bit)

Long Track Time;1 if Track Time > 25.5 sec (0 otherwise)

• Bits 16-23 (8 bits)

Track Time (signal tracking time in seconds); LSB = 0.1 seconds; Range = 0 to 25.5 seconds

• Bits 24-31 (8 bits)

Cycle Slips; increments by 1 every cycle slip with natural roll-over after 255

P7_Doppler_FL See following Unsigned long 4

• Bit 0 (1 bit)

Phase Valid (Boolean);1 if valid phase (0 otherwise)

• Bits 1-23 (23 bits)

Doppler (magnitude of Doppler);LSB = 1/512 cycle/sec; Range = 0 to 16384 cycle/sec

• Bit 24 (1 bit)

Doppler Sign (sigh of Doppler);1 = negative, 0 = positive

• Bits 25-31 (7 bits)


408

Carrier Phase (High part) (Upper 7 bits of the 23 bit carrier phase): LSB = 64 cycles, MSB = 4096 cycles

CodeAndPhase See following Unsigned long 4

• Bits 0-15 (16 bits)

Pseudorange (lower 16 bits of code pseudorange);LSB = 1/256 meters, MSB = 128 meters

Note: For CA code, the upper 19 bits are given in L1CACodeMSBsPRN[] below

• Bits 16-31 (16 bits)

Carrier Phase (lower 16 bits of the carrier phase); LSB = 1/1024 cycles, MSB = 32 cycles

Note: The 7 MSBs are given in P7_Doppler_FL (see preceding row in this table)

L1CACodeMSBsPRN[15] L1CA code observation Array of 15 Unsigned long

15 x 4 =

60

See following


PRN (space vehicle ID);PRN = 0 if no data

• Bits 8-12 (5 bits) Unused

• Bits 13-31 (19 bits)

L1CA Range (upper 19 bits of L1CA); LSB = 256 meters, MSB = 67,108,864 meters

L1PCode[12] L1(P) code observation data

Array of 12 Unsigned long

12 x 4 =

48

See following

• Bits 0-15 (16 bits)

L1P Range (lower 16 bits of the L1P code pseudorange);LSB = 1/256 meters, MSB = 128 meters

• Bits 16-27 (12 bits)

L1P SNR (L1P signal-to-noise ratio); SNR = 10.0 x log(0.1164 x SNR_value), if 0, then L1P channel not tracked



409

wCeckSum Sum of all bytes of header and data

Unsigned short 2

wCRLF Carriage return line feed Unsigned short 2

Structure:

typedef struct

{


double m_dTow; /* GPS Time in seconds */

unsigned short m_wWeek; /* GPS Week Number */ unsigned short m_wSpare1; /* spare 1 (zero)*/ unsigned long m_ulSpare2; /* spare 2 (zero)*/

SObsPacket m_asL2PObs[CHANNELS_12]; /* 12 sets of L2(P) observations

*/

SObsPacket m_asL1CAObs[CHANNELS_L1_E]; /* 15 sets of L1(CA) observations

*/

unsigned long m_aulCACodeMSBsPRN[CHANNELS_L1_E]; /* array of 15words.

satellite

spare

upper

bit 7:0 (8 bits) =

PRN, 0 if no satellite bit 12:8 (5 bits) =

bit 31:13 (19 bits) =

19 bits of L1CA LSB

= 256 meters

MSB = 67108864 meters */

unsigned long m_auL1Pword[CHANNELS_12]; /* array of 12 words relating to L1(P)

16 range.

SNR_value

code. Bit 0-15 (16 bits) lower bits of the L1P code pseudo

LSB = 1/256 meters MSB

= 128 meters


410

Bits 16-27 (12 bits) = L1P

SNR = 10.0*log10(

0.1164*SNR_value)

If Bits 16-27 all zero, no L1P

track

Bits 28-31 (4 bits) spare */





Related Commands:

JBIN



411


Binary

Description:

SBAS data frame information


Message Format: Message Component


PRN Broadcast PRN Unsigned short 2

Spare Not used at this time Unsigned short 2 Future use

MsgSecOfWeek Seconds of week for message Unsigned long 4

WaasMsg[8] 250-bit WAAS message (RTCA DO0229). 8 unsigned longs, with most significant bit received first.

Unsigned long 4 x 8 =

32


$JBIN,80,r<CR><LF>

where:


Structure typedef struct

{


unsigned short m_wPRN; unsigned short m_wSpare;

unsigned long m_ulMsgSecOfWeek; long m_aulWaasMsg[8]; short m_wCheckSum;

unsigned short m_wCRLF;

/* Broadcast PRN */

/* spare (zero) */

/* Seconds of Week For Message */ unsigned

/* Actual 250 bit waas message*/ unsigned

/* sum of all bytes of the datalength */


412

/* Carriage Return Line Feed */



Message Component


PRN Broadcast PRN Unsigned short 2


MsgSecOfWeek Seconds of week for message Unsigned long 4

WaasMsg[8] 250-bit WAAS message (RTCA DO0229). 8 unsigned longs, with most significant bit received first.

Unsigned long 4 x 8 =

32


Related Commands:

JBIN



413


Binary

Description:

SBAS satellite tracking information (supports three SBAS satellites)


Message Format:

$JBIN,89,r<CR><LF>

where:



GPSSecOfWeek GPS tow integer sec Long

MaskSBASTracked SBAS satellites tracked, bit mapped 0..3

Byte

MaskSBASUSED SBAS satellites used, bit mapped 0..3

Byte

Spare Spare Unsigned short

ChannelData[CHANNELS_SBAS_E] SBAS channel data SChannelData


Structure:

typedef struct {

SUnionMsgHeader long

m_sHead;

m_lGPSSecOfWeek; /* GPS tow integer sec */

unsigned char m_byMaskSBASTracked; /* SBAS Sats Tracked, bit mapped 0..3 */

unsigned char unsigned short

m_byMaskSBASUSED; /* SBAS Sats Used, bit mapped 0..3 */ m_wSpare; /* spare */

SChannelData unsigned short unsigned short

} SBinaryMsg89;


414

m_asChannelData[CHANNELS_SBAS_E]; /* SBAS channel data */ m_wCheckSum; /* sum of all bytes of thedatalength */ m_wCRLF; /* Carriage Return Line Feed */

/* length = 8 + 80 + 2 + 2 = 92 */


Related Commands:

JBIN



415

Bin92 Message

Message Type:

Binary

Description:

QPS Almanac


$JBIN,92,r<CR><LF>

where:


· 'r' = 1 to turn on the message, 0 to turn off the message

Message Component



1


1


2


alAlmwords[0] toa

alAlmwords[1]

alAlmwords[2] e

alAlmwords[3] ω

alAlmwords[4] M0

alAlmwords[5]

alAlmwords[6]

alAlmwords[7]

alAlmwords[8] SV Health

alAlmwords[9] WNa

Long[12] 12*4 = 48


416

Structure:

//-----------------------------------------------------------------------------

// SBinaryMsg92

// QPS Almanac

//-----------------------------------------------------------------------------

typedef struct

{










Related Commands:



417

Bin93 Message

Message Type:

Binary

Description:

SBAS ephemeris information


Message Format:

$JBIN,93,r<CR><LF>

where:


Message Component




TOWSecOfWeek Time at which this arrived (LSB = 1 sec) Unsigned long 4

IODE Unsigned short 2

URA Consult the ICD-GPS-200 for definition in Appendix A

Unsigned short 2

TO Bit 0 = 1 sec Long 4

XG Bit 0 = 0.08 m Long 4

YG Bit 0 = 0.08 m Long 4

ZG Bit 0 = 0.4 m Long 4

XGDot Bit 0 = 0.000625 m/sec Long 4

YXDot Bit 0 = 0.000625 m/sec Long 4

ZGDot Bit 0 = 0.004 m/sec Long 4

XGDotDot Bit 0 = 0.0000125 m/sec/sec Long 4

YGDotDot Bit 0 = 0.0000125 m/sec/sec Long 4

ZGDotDot Bit 0 = 0.0000625 m/sec/sec Long 4

Gf0 Bit 0 = 2**-31 sec Unsigned short 2

Gf0Dot Bit 0 = 2**-40sec/sec Unsigned short 2


418


Structure:

typedef struct

{



unsigned short m_wWeek; /* Week corresponding to m_lTOW*/

unsigned long m_lSecOfWeekArrived; /* time at which this arrived (LSB= 1sec)

*/

unsigned short m_wIODE;

unsigned short m_wURA; /* See 2.5.3 of Global Pos Sys Std Pos Service Spec

*/

long m_lTOW; /* Sec of WEEK Bit 0 = 1 sec */

long m_lXG; /* Bit 0 = 0.08 m */

long m_lYG; /* Bit 0 = 0.08 m */

long m_lZG; /* Bit 0 = 0.4 m */

long m_lXGDot; /* Bit 0 = 0.000625 m/sec */

long m_lYGDot; /* Bit 0 = 0.000625 m/sec */

long m_lZGDot; /* Bit 0 = 0.004 m/sec */

long m_lXGDotDot; /* Bit 0 = 0.0000125 m/sec/sec */ long m_lYGDotDot; /* Bit 0 = 0.0000125 m/sec/sec */ long m_lZGDotDot;

/* Bit 0 = 0.0000625 m/sec/sec */ short m_nGf0; /* Bit 0 = 2**-31 sec */

short m_nGf0Dot; /* Bit 0 = 2**-40 sec/sec */





Related Commands:

JBIN


419



420


Binary

Description:

Ionospheric and UTC conversion parameters


Message Format:

$JBIN,94,r<CR><LF>

where:


'r' = 1 (on) or 0 (off)

Message Component


a0, a1,a2, a3 AFCRL alpha parameters Double 8 x 4 = 32

b0, b1,b2, b3 AFCRL beta parameters Double 8 x 4 = 32

A0, A1 Coefficients for determining UTC time Double 8 x 2 = 16

tot Reference time for A0 and A1, second of GPS week

Unsigned long 4

wnt Current UTC reference week Unsigned short 2

wnlsf Week number when dtlsf becomes effective

Unsigned short 2

dn Day of week (1-7) when dtlsf becomes effective

Unsigned short 2

dtls Cumulative past leap Short 2

dtlsf Scheduled future leap Short 2

Spare Not used at this time Short 2 Future use

When set to on the message is sent once and then sent again whenever satellite information changes

Structure:

typedef struct

{



421

/* Iono parameters. */

double m_a0,m_a1,m_a2,m_a3; /* AFCRL alpha parameters. */

double m_b0,m_b1,m_b2,m_b3; /* AFCRL beta parameters. */

/* UTC conversion parameters. */

double m_A0,m_A1; /* Coeffs for determining UTC time. */

unsigned long m_tot; /* Reference time for A0 & A1, sec of GPSweek. */ unsigned short m_wnt; /* Current UTC reference week number. */

unsigned short m_wnlsf; /* Week number when dtlsf becomes effective. */

unsigned short m_dn; /* Day of week (1-7) when dtlsf becomes effective.

*/

short m_dtls; /* Cumulative past leap seconds.*/ short m_dtlsf; /* Scheduled future leap seconds. */ unsigned shortm_wSpare1; /* spare 4 (zero)*/

unsigned short m_wCheckSum; /* sum of all bytesof the datalength */ unsigned short m_wCRLF; /* Carriage Return Line Feed */




Related Commands:

JBIN



422


Binary

Description:

GPS ephemeris information


Message Format:

$JBIN,95,r<CR><LF>

where:


'r' = 1 (on) or 0 (off)

Message Component




SecOfWeek Time at which this arrived (LSB = 6) Unsigned long 4





Structure:

typedef struct

{


unsigned short m_wSV; /* The satellite to which this data belongs.

*/


unsigned long m_TOW6SecOfWeek; /* time at which this arrived (LSB = 6sec)

*/


423

unsigned long m_SF1words[10]; /* Unparsed SF 1 messagewords. */ unsignedlong m_SF2words[10]; /* Unparsed SF 2 message words. */ unsigned long m_SF3words[10]; /* Unparsed SF 3 message words.*/



30 bits, The upper two bits are ignored Bits are placed in the words from left to right as they are received */

unsigned short unsigned short

} SBinaryMsg95;

m_wCheckSum; m_wCRLF;

/*

/*

/*

sum of all bytes of the datalength */ Carriage Return Line Feed */

length = 8 + (128) + 2 + 2 = 140 */



Related Commands:

JBIN



424


Binary

Description:

GPS L1 code and carrier phase information


Message Format:

$JBIN,96,r<CR><LF>

where:





TOW Predicted GPS time in seconds Double 8

UNICS_TT_SNR_PRN[12] See following Unsigned long 4


Pseudorandom noise; PRN is 0 if no data


Signal-to noise ratio (SNR); SNR=10.0 *log10* (0.8192*SNR)

• Bits 16-23 (8 bits)

PhaseTrackTime (PTT); in units of 1/10 sec; range=0 to 25 sec (if greater than 25 see UIDoppler_FL[12] below)

• Bits 24-31 (8 bits)

CycleSlip Counter (CSC); increments by 1 every cycle with natural rollover after 255

UIDoppler_FL[12] See following Unsigned long 4


425

• Bit 0 (1 bit)

Phase; Location 0; 1 if valid (0 otherwise)

• Bit 1 (1 bit)

TrackTime; 1 if track time > 25.5 seconds (0 otherwise)


• Bits 4-31 (28 bits)

Doppler; Signed (two’s compliment) Doppler in units of m/sec x 4096. (i.e., LSB=1/4096), range

= +/- 32768 m/sec. Computed as phase change over 1/10 sec.

PseudoRange[12] Pseudorange Double 8

'r' = message rate in Hz (20, 10, 2, 1, or 0)

Phase[12] Phase (m) L1 wave = 0.190293672798365

Double 8

Structure: typedef struct

{



unsigned short

double

m_wWeek;

m_dTow;

/*

/*

GPS Week Number */

Predicted GPS Time in seconds */

SObservations m_asObvs[CHANNELS_12];/* 12 sets of observations */





426



Related Commands:

JBIN



427

Bin97 Message Message Type

Binary

Description:

Processor statistics


Message Format:

$JBIN,97,r<CR><LF>

where:



CPUFactor CPU utilization factor Multiply by 450e-06 to get

percentage of spare CPU that is available

Note: This field is only relevant on the old SLX platforms and Eclipse platform. It is not relevant for the Crescent receivers.

Unsigned long 4 Positive

MissedSubFrame Total number of missed sub frames in the navigation message since power on


MaxSubFramePnd Max sub frames queued for processing at any one time


MissedAccum Total number of missed code accumulation measurements in the channel tracking loop


MissedMeas Total number missed pseudorange measurements


Spare 1 Not used at this time Unsigned long 4 Future use



Spare 4 Not used at this time Unsigned short 2 Future use

Spare 5 Not used at this time Unsigned short 2 Future use



428

Structure: typedef struct

{


unsigned long m_ulCPUFactor; /* CPU utilization Factor (%=multby 450e-6)

*/

unsigned short m_wMissedSubFrame; /* missed subframes */ unsigned short m_wMaxSubFramePend; /* max subframe pending */ unsigned short m_wMissedAccum; /* missed accumulations */ unsigned short m_wMissedMeas; /* missed measurements */ unsigned long m_ulSpare1; /* spare 1 (zero)*/ unsigned long m_ulSpare2; /* spare 2 (zero)*/ unsigned long m_ulSpare3; /* spare 3 (zero)*/ unsigned short m_wSpare4; /* spare 4 (zero)*/ unsigned short m_wSpare5; /* spare 5 (zero)*/

unsigned short m_wCheckSum; /* sum of all bytes of the datalength */ unsignedshort m_wCRLF; /* Carriage Return Line Feed */




Related Commands:

JBIN



429

Bin98 Message

Message Type:

Binary

Description:

GPS satellite and almanac information


$JBIN,98,r<CR><LF>

where:



Message Component


AlmanData[8] SV data, 8 at a time SSVAlmanData See following

LastAlman Last almanac processed Byte 1 0 to 31

IonoUTCVFlag Flag that is set when ionosphere modeling data is extracted from the GPS sub frame 4

Byte 1 0 = not logged 2 = valid


Message Format:

Structure

typedef struct

{

SUnionMsgHeader

SSVAlmanData

m_sHead;

m_asAlmanData[8];

/*

SV data, 8 at a time */

unsigned char m_byLastAlman; /* last almanac processed */

unsigned char unsigned short

unsigned short

m_byIonoUTCVFlag; m_wSpare;

m_wCheckSum;

/*

/*

iono UTC flag */ spare */

sum of all bytes of the datalength */


430

/*

unsigned short

} SBinaryMsg98;

m_wCRLF; /*

/*

Carriage Return Line Feed */

length = 8 + (64+1+1+2) + 2 + 2 = 80 */



Related Commands:

JBIN



431


Binary

Description:

GPS L1 diagnostic information


$JBIN,99,r<CR><LF>

where:



NavMode Navigation mode data Byte 1 Lower 3 bits

(lower 3 bits hold the take on the

GPS mode, upper bit values:

set if differential is 0 = time not

available) valid

1 = No fix

2 = 2D fix

3 = 3D fix

Upper bit (bit

7) is 1 if

differential is

available

UTCTimeDiff Whole seconds between UTC and GPS time (GPS minus UTC)

Byte 1 Positive


Unsigned short 2 0 to 65536

GPSTimeofWeek GPS tow (sec) associated with this message

Double 8 0.0 to 604800.0

sChannelData[CHANNELS_12] Channel data SChannelData 12 x 24 =

288


432

ClockErrAtL1 Clock error of the GPS clock oscillator at L1 frequency in Hz

Short 2 -32768 to

32768



Structure:

typedef struct

{


unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D

(high bit =has_diff) */

char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS */ unsigned shortm_wGPSWeek; /* GPS week */


SChannelData m_asChannelData[CHANNELS_12]; /* channel data*/ short m_nClockErrAtL1; /* clock error at L1, Hz */

unsigned shortm_wSpare; /* spare */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength */ unsignedshort m_wCRLF; /* Carriage Return Line Feed */




Related Commands:

JBIN



433


Binary

Description:

GPS L2 diagnostic information


Message Format:

$JBIN,100,r<CR><LF>

where:




NavMode Navigation mode data Byte 1 Lower 3 bits

(lower 3 bits hold the take on the

GPS mode, upper bit values:

set if differential is 0 = time not

available) valid

1 = No fix

2 = 2D fix

3 = 3D fix

Upper bit (bit

7) is 1 if

differential is

available

UTCTimeDiff Whole seconds between UTC and GPS time (GPS minus UTC)

Byte 1 Positive


434



MaskSatsUsedL2P L2P satellites used, bit mapped 0..31

Unsigned long


Double 8 0.0 to 604800.0

MaskSatsUsedL1P L1P satellites used, bit mapped 0..31

Unsigned long

sChannelData[CHANNELS_12] L2 channel data SChannelData 12 x 24 =

288

Structure typedef struct

{

SUnionMsgHeader

unsigned char

m_sHead;

m_byNavMode;

/* Nav Mode FIX_NO, FIX_2D, FIX_3D

(high bit =has_diff) */

char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS */ unsigned short m_wGPSWeek; /* GPS week */

unsigned long m_ulMaskSatsUsedL2P /* L2P SATS Used, bit mapped0..31 */ double m_dGPSTimeOfWeek; /* GPS tow */

unsigned long m_ulMaskSatsUsedL1P; /* L1P SATS Used, bit mapped 0..31 */ SChannelL2Data m_asChannelData[CHANNELS_12]; /* channel data */





Related Commands:

JBIN



435


Binary

Description:

Alternate position solution data


$JBIN,122,r<CR><LF>

where:

• '122' = Bin122message

• 'r' = message rate in Hz

Message Format Message Component Description Type Bytes Values

GPSTimeOfWeek GPS tow (sec) associated with this

message Double 8 to 604800.0

GPSWeek GPS week associated with this message Unsigned short 2 0 to 65535

PosType Type of position

0: Autonomous

1: SBAS

2: Differential phase solution

3: Differential code solution

4: RTK (fixed vs. float is not specified)

5: RTK Fixed

6: RTK Float

7: Tracer

8: Manual

9: Atlas (fixed vs. float not specified)

10: SureFix

11: FastFix

Unsigned char 1

Correction source Source of corrections

0: No correction

1: SBAS

2: eDif

3: Atlas

Unsigned char 1


436

6: RTCM unspecified version

7: RTCM 2.3

8: RTCM 3

9: ROX

11: CMR

BaseID Base station ID Unsigned short 2 0 to 65535

SatUsedCount Sats used in each system

[GPS, GLN, GAL, BDS, SBAS, QZSS]

Unsigned char array

6*1 = 6


Longitude Longitude in degrees east Double 8 -180.0 to 180.0

Height Altitude above ellipsoid in meters Float 4

AgeOfDiff Age of differential, in seconds Float 4

VNorth North-South velocity, +North m/s Float 4

VEast East-West velocity, +East m/s Float 4

VUP Vertical velocity, +up m/s Float 4

CovNN Covariance North-North Float 4

CovNE Covariance North-East Float 4

CovNU Covariance North-Up Float 4

CovEE Covariance East-East Float 4

CovEU Covariance East-Up Float 4

CovUU Covariance Up-Up Float 4

Structure:

typedef struct

{



437



unsigned char m_byPhxPosType; // Phoenix position type [1 bytes]

unsigned char m_byCorSource; // Phoenix correction source [1 byte ]

unsigned short m_wBaseStationId; // Base station ID [2 bytes]

unsigned char m_bySatUsedCount[6]; // Satellites used per system [6 bytes]

// [GPS GLN GAL BDS SBAS QZSS]




float m_fAgeOfDiff; // age of differential, seconds [4 bytes]

float m_fVNorth; // North-South Velocity +North m/s [4 bytes]

float m_fVEast; // East-West Velocity +East m/s [4 bytes]


float m_fCovNN; // Covariance North-North [4 bytes]

float m_fCovNE; // Covariance North-East [4 bytes]

float m_fCovNU; // Covariance North-Up [4 bytes]

float m_fCovEE; // Covariance East-East [4 bytes]

float m_fCovEU; // Covariance East-Up [4 bytes]

float m_fCovUU; // Covariance Up-Up [4 bytes]





Related Commands:

JBIN



438


Binary

Description:

SNR and status for all GNSS tracks


Message Format:

$JBIN,209,r<CR><LF>

where:


'r' = message rate in Hz



Double 8 0.0 to 604800.0



UTCTimeDiff Whole Seconds between UTC and GPS

char 1

Page Bits 0-1 = Antenna: 0 = Master, 1 = Slave, 2 = Slave2

Bits 2-4 = Page ID: 0 = page 1, 1 =

page 2, etc

Bits 5-7 = Max page ID: 0 = only 1

page, 1 = 2 pages

Unsigned char 1

sSVData SNR data

Structure:


439

typedef struct

{

SUnionMsgHeader m_sHead; //

double m_dGPSTimeOfWeek; // GPS tow

unsigned short m_wGPSWeek; // GPS week

char m_cUTCTimeDiff; // Whole Seconds between UTC and GPS

unsigned char m_byPage;

// Bits 0-1 = Antenna: 0 = Master, 1 = Slave, 2 = Slave2



SSVSNRData m_asSVData[40]; // SNR data


unsigned short

} SBinaryMsg209;

m_wCRLF; // Carriage Return Line Feed

// length = 8 + 332 + 2 + 2 = 344


Related Commands:

JBIN



440

SSVSNRData209 Message Type:

Binary

Description:

Satellite Data for Bin 209


Message Format:

Message Component Description Type Bytes

Status_SYS_PRNID status, GNSS system, PRN ID

0-5 PRNID (for SBAS , PRNID = PRN-120)

Bit 6-8 SYS: 0 = GPS, 1 = GLONASS, 2 = GALILEO, 3 = BEIDOU, 4=QZSS, 7 = SBAS

Bit 9 = code and Carrier Lock on L1,G1,B1

Bit 10 = code and Carrier Lock on L2,G2,B2

Bit 11 = code and Carrier Lock on L5,E5,B3

Bit 12 = Bit Lock and Frame lock (decoding data)

Bit 13 = Ephemeris Available

Bit 14 = Health OK

Bit 15 = Satellite used in Navigation Solution

m_wStatus_SYS_PRNID = 0 ==> unfilled data

Unsigned Short 2

m_chElev Elevation angle, LSB = 1 deg char 1

m_byAzimuth 1/2 the Azimuth angle, LSB = 2 deg Unsigned char 1

m_ulSNR3_SNR2_SNR1 Bits 0-10 SNR1 (L1,G1,B1, etc) 11 bits => Max SNR = 32.2 dB

Bits 11-21 SNR2 (L2,G2,B2, etc) 11 bits => Max SNR = 32.2 dB

Bits 22-31 SNR3 (L5,E5,B3, etc) 10 bits => Max SNR = 29.2 dB

Unsigned long 4


441

Structure:

typedef struct

{

unsigned short m_wStatus_SYS_PRNID; // status, GNSS system, PRN ID

// Bit 0-5 PRNID (for SBAS , PRNID = PRN-120)

// Bit 6-8 SYS: 0 = GPS, 1 = GLONASS, 2 = GALILEO, 3 = BEIDOU, 4=QZSS, 7 = SBAS



// Bit 11 = code and Carrier Lock on L5,E5,B3

// Bit 12 = Bit Lock and Frame lock (decoding data)




// m_wStatus_SYS_PRNID = 0 ==> unfilled data



unsigned long m_ulSNR3_SNR2_SNR1; // 3 SNRs, 2 @ 11 bit & 1 @ 10 bits, each SNR = 10.0*log10( 0.8192*SNR_value)



// Bits 22-31 SNR3 (L5,E5,B3, etc) 10 bits => Max SNR = 29.2 dB

} SSVSNRData; // 8 bytes

Related Commands:

JBIN



442

Bin309 Message Message Type: Binary

Description: SNR and status for all GNSS tracks


$JNIN,309,r<CR><LF>

where: '309' = Bin309 message

'r'=message rate in Hz

Message Format: Message Component Description Type Bytes Values


Double 8 0.0 to 604800.0



UTCTimeDiff Whole Seconds between UTC and GPS

char 1

Page Bits 0-1 = Antenna: 0 = Master, 1 = Slave, 2 = Slave2

Bits 2-4 = Page ID: 0 = page 1, 1 =

page 2, etc

Bits 5-7 = Max page ID: 0 = only 1

page, 1 = 2 pages

Unsigned char 1

sSVData309 SNR data SSVSNRData309 30 * 16 = 480

Structure:

typedef struct

{

unsigned shortm_wSYS_PRNID; // GNSS system, PRN ID


443

// Bit 0-6 PRNID (For SBAS , PRNID = PRN-120. For QZSS, PRNID = PRN-192)

// Bit 7-10 SYS: 0 = GPS, 1 = GLONASS, 2 = GALILEO, 3 = BEIDOU, 4=QZSS, 7 = SBAS, 8 = IRNSS

// Bit 11-15 Spare

// m_wSYS_PRNID = 0 ==> unfilled data

unsigned shortm_wStatus; // status

// Bit 0 = code and Carrier Lock on Signal 0












// QZS Signal ID: L1CA=0, L2C=2, L5=3, L1C=4, LEX=5

// Bit 8 = Bit Lock and Frame lock (decoding data) on Signal 0




444

// Bit 11 = spare

// Bit 12 = spare






unsigned shortm_wLower2BitsSNR7_6_5_4_3_2_1_0; // Lower 2 bits of 10 bit SNR for channel 7-0

// Bit 0-1, lower two bits of SNR on Signal 0








unsigned char m_abySNR8Bits[8]; // 8 SNRs, Upper 8 bits of 10 bit SNR, SNR = 10.0*log10( 0.8192*SNR_value),

// Max SNR = 29.2 dB

// SNR_value for i'th SNR = ((unsigned long)m_abySNR8Bits[i] << 2) + Lower2Bits

// Lower2Bits = (m_wLower2BitsSNR7_6_5_4_3_2_1_0 >> (2*i)) & 0x3;

// m_abySNR8Bits[0] 8 bits of SNR on signal 0


445








} SSVSNRData309; // 16 bytes

//-****************************************************

//-* SBinaryMsg309

//-* SNR and status for all GNSS tracks

//-****************************************************

typedef struct

{




char m_cUTCTimeDiff; // Whole Seconds between UTC and GPS [1 byte]

unsigned char m_byPage; // Bits 0-1 = Antenna: 0 = Master, 1 = Slave, 2 = Slave2 [1 byte]




446

SSVSNRData309 m_asSVData309[30]; // SNR data [480 bytes]



} SBinaryMsg309; // length = 8 + 492 + 2 + 2 = 504


Related Commands:

JBIN

Topic Last Updated: 3.0 / December 30, 2019


447

SSVSNRData309 Message Type:

Binary

Description:

Satellite Data for Bin309


N/A

Message Format:

Message Component Description Type Bytes

m_wSYS_PRNID status, GNSS system, PRN ID

0-6 PRNID (for SBAS , PRNID = PRN-120)

Bit 7-10 SYS: 0 = GPS, 1 = GLONASS, 2 = GALILEO, 3 = BEIDOU, 4=QZSS, 7 = SBAS, 8 = IRNSS

Bit 11 – 15 Spare

M_wSYS_PRNID = 0 ==> unfilled data

Unsigned Short 2

m_wStatus Bit 0 = code and Carrier Lock on Signal 0

Bit 1 = code and Carrier Lock on Signal 1







GPS Signal ID: L1CA=0, L2P=1, L2C=2, L5=3

GLO Signal ID: G1C/G1P=0, G2C/G2P=1, G10C=4, G20C=5, G30C=6

GAL Signal ID: E1BC=0, E5A=1, E5B=2, E6=3, ALTBOC=4

BDS Signal ID: B1I=0, B2I=1, B3I=2,B1BOC=3,B2A=4,B2B=5,B3C=6,ACEBOC=7

QZS Signal ID: L1CA=0, L2C=2, L5=3, L1C=4, LEX=5

Bit 8 = Bit Lock and Frame lock (decoding data) on Signal 0




448

Bit 11 = spare

Bit 12 = spare

Bit 13 = Ephemeris Available

Bit 14 = Health OK

Bit 15 = Satellite used in Navigation Solution

m_chElev Elevation angle, LSB = 1 deg char 1

m_byAzimuth 1/2 the Azimuth angle, LSB = 2 deg Unsigned char 1

m_wLower2BitsSNR7_6_5_4_3_2_1_0

Lower 2 bits of 10 bit SNR for channel 7-0

Bit 0-1, lower two bits of SNR on Signal 0








Unsigned short 2

m_abySNR8Bits[8] 8 SNRs, Upper 8 bits of 10 bit SNR, SNR = 10.0*log10( 0.8192*SNR_value),

Max SNR = 29.2 dB

SNR_value for i'th SNR = ((unsigned long)m_abySNR8Bits[i] << 2) + Lower2Bits


449

Lower2Bits = (m_wLower2BitsSNR7_6_5_4_3_2_1_0 >> (2*i)) & 0x3;

m_abySNR8Bits[0] 8 bits of SNR on signal 0

m_abySNR8Bits[1] 8 bits of SNR on signal 1







Structure:

typedef struct

{

unsigned short m_wSYS_PRNID; // GNSS system, PRN ID

// Bit 0-6 PRNID (For SBAS , PRNID = PRN-120. For QZSS, PRNID = PRN-192)

// Bit 7-10 SYS: 0 = GPS, 1 = GLONASS, 2 = GALILEO, 3 = BEIDOU, 4=QZSS, 7 = SBAS, 8 = IRNSS

// Bit 11-15 Spare

// m_wSYS_PRNID = 0 ==> unfilled data

unsigned short m_wStatus; // status













450


// QZS Signal ID: L1CA=0, L2C=2, L5=3, L1C=4, LEX=5




// Bit 11 = spare

// Bit 12 = spare






unsigned short m_wLower2BitsSNR7_6_5_4_3_2_1_0; // Lower 2 bits of 10 bit SNR for channel 7-0









unsigned char m_abySNR8Bits[8]; // 8 SNRs, Upper 8 bits of 10 bit SNR, SNR = 10.0*log10( 0.8192*SNR_value),

// Max SNR = 29.2 dB

// SNR_value for i'th SNR = ((unsigned long)m_abySNR8Bits[i] << 2) + Lower2Bits

// Lower2Bits = (m_wLower2BitsSNR7_6_5_4_3_2_1_0 >> (2*i)) & 0x3;








451



} SSVSNRData309; // 16 bytes

Related Commands:

JBIN



452

NMEA 0183 Supported Messages NMEA 0183 Message Format NMEA 0183 messages (sentences) have the following format:

$XXYYY,ZZZ,ZZZ,ZZZ...*CC<CR><LF>

where:

Element Description

$ Message header character

XX NMEA 0183 talker field (GP = GPS, GL = GLONASS, GA = GALILEO, GB = BEIDOU, GN = All constellations)

YYY Type of GPS NMEA 0183 message

ZZZ Variable length message fields

*CC Checksum


<LF> Line feed Null (empty) fields occur when there is no information for that field. You can use the JNP command to specify the number of decimal places output in the GPGGA and GPGLL messages.


The literal translation means "Carriage Return, Line Feed." These are terms used in computer programming languages to describe the end of a line or string of text. If you are writing your own communication software for a receiver, see some of the examples below. If you are already using a program such as Hemisphere GNSS' PocketMax, when you click to send a command to the receiver, the program adds the carriage return and line feed to the end of the text string for you. If you are using HyperTerminal or other terminal software, typically the Enter key on your keyboard is set to send the <CR><LF> pair. You may need to define this in the setup section of the terminal software. Some software may treat the Enter key on your numeric keypad differently than the main Enter key in the main QWERTY section of the keyboard – use the main Enter key for best results.

Electronics use different ways to represent the <CR><LF> characters. In ASCII numbers, <CR> is represented as 13 in decimal, or 0D in hexadecimal. ASCII for <LF> is 10 decimal, or 0A hexadecimal. Some computer languages use different ways to represent <CR><LF>. Unix and C language can use “\x0D\x0A". C language can also use “\r\n” in some instances. Java may use CR+LF. In Unicode, carriage return is U+000D, and line feed is U+000A. It is advised to clearly understand how to send these characters if you are writing your own interface software.



453

GLMLA Message

GLMLA Message

Message Type:

GLONASS

Description:

GLONASS almanac data

Contains complete almanac data for one GLONASS satellite. Multiple sentences may be transmitted, one for each satellite in the GLONASS constellation.


$JASC,GLMLA,r[,OTHER]<CR><LF>

where:

'r' = 1 (on) or 0 (off) When set to on the message is sent once (one message for each tracked satellite at 1 second intervals) and then sent again whenever satellite information changes

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$GLMLA,A.A,B.B,CC,D.D,EE,FFFF,GG,HHHH,IIII,JJJJJJ,KKKKKK,MMMMMM, NNNNNN,PPP,QQQ*hh<CR><LF>

where:

Message Component

Description

A.A Total number of sentences

B.B Sentence number

CC Satellite ID (satellite slot) number

D.D Calendar day count within the four year period beginning with the previous leap year

EE Generalized health of the satellite and carrier frequency number respectively

FFFF Eccentricity

GG DOT, rate of change of the draconitic circling time

HHHH Argument of perigee

IIII 16 MSB of system time scale correction

JJJJJJ Correction to the average value of the draconitic circling time

KKKKKK Time of the ascension node, almanac reference time

MMMMMM Greenwich longitude of the ascension node

NNNNNN Correction to the average value of the inclination angle

PPP LSB of system time scale correction


454

QQQ Course value of the time scale shift

Example:


Similar to the GPS message GPALM

Related Commands:

JASC,GL



455

GPALM Message

GPALM Message

Message Type Data Description:

Message number (individual and total),week number, satellite health, and the almanac data for each satellite in the GPS constellation up to a maximum of 32 messages


$JASC,GPALM,r[,OTHER]<CR><LF>

where

'r' = 1 (on) or 0 (off)



Message Format:

$GPALM,A,B,C,D,E,F,G,H,J,K,L,M,N,P,Q*CC<CR><LF>

where:

Response Component

Description As Displayed in First Full Line of Example Below This Table

A Total number of messages 31

B Message number 1

C Satellite PRN number 02

D GPS week number (0-1023) 1617

E Satellite health (bits 17-24 of message) 00

F Eccentricity 50F6

G Reference time of almanac (TOA) 0F

H Satellite inclination angle (sigma) FD98

J Rate of right ascension (omega dot) FD39

K Square root of semi-major axis (root A) A10CF3

L Perigee (omega) 81389B

M Ascending node longitude (omega O) 423632

N Mean anomaly (mo) BD913C

P Clock parameter 0 (af0) 148

Q Clock parameter 1 (af1) 001

*CC Checksum


456


Response Component Description

As Displayed in First Full Line of Example Below This Table

A Total Number of Messages 31

B Message number 1

C Satellite PRN number 02 Example:

$>

$GPALM,31,1,02,1617,00,50F6,0F,FD98,FD39,A10CF3,81389B,423632,BD913C,148

,001*

$GPALM,31,2,03,1617,00,71B9,0F,F6C2,FD45,A10C96,2B833C,131DB4,BA69EE,2B1, 001*

$GPALM,31,3,04,1617,00,4F01,0F,FD03,FD39,A10BFC,1C6C35,42EDB1,35B537,112, 003*

$GPALM,31,4,05,1617,00,121B,0F,08C8,FD61,A10C5C,09CA99,6D7257,021B32,79F, 7FE*

$GPALM,31,5,06,1617,00,337F,0F,FB6B,FD49,A10CC2,DBE103,161127,10CD11,18C, 7FE*.

$GPALM,31,29,30,1617,00,6A85,0F,0ADD,FD5C,A11A83,3F6243,EBCC46,E8548D,145, 001

$GPALM,31,30,31,1617,00,4037,0F,1778,FD3E,A10C28,D62817,C32ADF,781125,01B, 001

$GPALM,31,31,32,1617,00,65B5,0F,0956,FD65,A10DD0,DD74BA,71125D,985AE3,751, 7FE

Additional Information: Similar to the GLONASS message GLMLA Related Commands:

JASC,GP Topic Last Updated: v1.05 / January 18, 2013


457

GPDTM Message

GPDTM Message

Message Type:

Data

Description:

Datum reference


$JASC,GPDTM,r[,OTHER]<CR><LF>

where:

• 'r' = message rate (in Hz) of (1 or 0)

• ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$GPDTM,CCC,A,X.X,K,X.X,L,X.X,CCC*CC<CR><LF>

where:

Message

Component

Description

CCC Local datum (normally W84, but could be NAD83 when using beacon in North America)

A Local datum subdivision code

X.X Latitude offset, in minutes

K Latitude indicator; value is N (North latitude) or S (South latitude)

X.X Longitude offset, in minutes

L Longitude indicator; value is E (East longitude) or W (West longitude)

X.X Altitude offset, in meters

CCC Reference datum (always W84)

*CC Checksum


<LF> Line feed

Example:

$GPDTM,W84,,0.0,N,0.0,E,0.0,W84*CC<CR><LF>


458


Related Commands:

JASC,GP

Topic Last Updated:


459

GPGGA Message

GPGGA Message

Message Type:

Data

Description:

Detailed GNSS position information (most frequently used NMEA 0183 data message)


$JASC,GPGGA,r[,OTHER]<CR><LF>

where:

•�� 'r' = messager ate (in Hz) of 20, 10, 5, 4, 2, 1, 0, or .2 (0 turns off the message)

•�� ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$GPGGA,HHMMSS.SS,DDMM.MMMMM,K,DDDMM.MMMMM,L,N,QQ,PP.P,AAAA.AA,M,±XX.XX,M, SSS,RRRR*CC<CR><LF>

where:

Message Component Description

HHMMSS.SS UTC time in hours, minutes, and seconds of the position

DDMM.MMMMM Latitude in degrees, minutes, and decimal minutes (you can set the number of decimal places using the JNP command)


DDDMM.MMMMM Longitude in degrees, minutes, and decimal minutes (you can set the number of decimal places using the JNP command)


N Quality indicator; value is:

• 0 = no position

• 1 = undifferentially corrected position (autonomous)

• 2 = differentially corrected position (SBAS, DGPS,Atlas DGPSservice, L- Dif and e-Dif)

• 4 = RTK fixed integer (Crescent RTK, Eclipse RTK),Atlas high precision services converged

• 5 = RTK float,Atlas high precision services converging


460

QQ Number of satellites used in position solution

P.P Horizontal dilution of precision (HDOP)

A.A Antenna altitude, in meters, re: mean-sea-level (geoid)

M Units of antenna altitude (M = meters)

G.G Geoidal separation (in meters)

M Units of geoidal separation (M = meters)

SSS Age of differential corrections, in seconds

RRRR Differential reference station ID

*CC Checksum


<LF> Line feed

Example:

$GPGGA,001038.00,3334.2313457,N,11211.0576940,W,2,04,5.4,354.682,M,- 26.574,M,7.0,0138*79


This message provides information specific to the satellite system identified by the first two characters of the message. GPGGA - GPS information

GNGGA - GNSS information GLGGA - GLONASS information

The JNMEA,GGAALLGNSS command significantly affects the output of the GGA message. If you are tracking more than GNSS signals, Hemisphere GNSS highly recommends that you review this command.

Related Commands:

JASC,GP, JASC,GN, JASC,GL, JNMEA,GGAALLGNSS



461

GPGLL Message

GPGLL Message

Message Type:

Data

Description:

Latitude and longitude data


$JASC,GPGLL,r[,OTHER]<CR><LF>

where:

•�� 'r' = message rate in Hz of 20, 10, 2, 1, 0, or .2 (0 turns off the message)


Message Format:

$GPGLL,DDMM.MMMMM,S,DDDMM.MMMMM,S,HHMMSS.SS,S*CC<CR><LF>

where:


DDMM.MMMMM Latitude in degrees, minutes, and decimal minutes

S S = N (North latitude ) or S (South latitude)

DDDMM.MMMMM Longitude in degrees, minutes, and decimal minutes

S S = E (East longitude) or W (West longitude)

HHMMSS.SS UTC time in hours, minutes, and seconds of GNSS position

S Status, S = A (valid) or V (invalid)

*CC Checksum


<LF> Line feed


This message provides information specific to the satellite system identified by the first two characters of the message.

GPGLL - GPS information GNGLL - GNSS information GLGLL - GLONASS information

The JNMEA,GGAALLGNSS command significantly affects the output of the GLL message. If you are tracking more than GNSS signals, Hemisphere GNSS highly recommends that you review this command.

Related Commands:


462




463

GPGNS Message

GPGNS Message

Message Type:

Data

Description:

Fixes data for single or combined (GPS, GLONASS, possible future satellite systems, and systems combining these) satellite navigation systems


$JASC,GPGNS,r[,OTHER]<CR><LF>

where:

•�� 'r' = message rate (in Hz) of 20, 10, 2, 1, 0, or .2 (0 turns off the message)

•�� ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and the brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$GPGNS,HHMMSS.SS,DDMM.MMMMM,K,DDDMM.MMMMM,L,MM,QQ,H.H,A.A,G.G,D.D,R.R,NS*CC<C

where:



DDMM.MMMMM Latitude in degrees, minutes, and decimal minutes (you can set the number of decimal places using the JNP command)


DDDMM.MMMMM Longitude in degrees, minutes, and decimal minutes (you can set the number of decimal places using the JNP command)



464

MM Mode indicator

Variable length valid character field type with the first two characters currently defined.

• First character indicates the use of GPS satellites

• Second character indicates the use of GLONASS satellites

If another satellite system is added to the standard, the mode indicator will be extended to three characters. New satellite systems shall always be added on the right, so the order of characters in the Mode Indicator is: GPS, GLONASS, other satellite systems in the future.

The characters shall take one of the following values:

• N = No fix. Satellite system not used in position fix, or fix not valid

• A = Autonomous. Satellite system used in non-differential mode in positionfix

• D = Differential. Satellite system used in differential mode in positionfix

• P = Precise. Satellite system used in precision mode. Precision mode is defined as no deliberate degradation (such as Selective Availability) and higher resolution code (P-code) is used to compute position fix.

• R = Real Time Kinematic. Satellite system used in RTK mode with fixed integers

• F = Float RTK. Satellite system used in real time kinematic mode with floating integers

• E = Estimated (dead reckoning) mode

• M = Manual input mode

• S = Simulator mode

The mode indicator shall not be a null field.

QQ Number of satellites used in position solution

P.P Horizontal dilution of precision (HDOP)

A.A Antenna altitude, in meters, re: mean-sea-level (geoid)

G.G Geoidal separation (in meters)


RRRR Differential reference station ID


465

NS Navigational status; options are:

• S = Safe

• C = Caution

• U = Unsafe

• V = Not valid for navigation

*CC Checksum


<LF> Line feed

Example:

$GPGNS,224749.00,3333.4268304,N,11153.3538273,W,D,19,0.6,406.110,- 26.294,6.0,0138,S,*6A


This message provides information specific to the satellite system identified by the first two characters of the message. GPGNS - GPS information

GNGNS - GNSS information GLGNS - GLONASS information GAGNS – GALILEO information

The JNMEA,GGAALLGNSS command significantly affects the output of the GNS message. If you are tracking more than GNSS sign Hemisphere GNSS highly recommends that you review this command.

Related Commands:




466

GPGRS Message

GPGRS Message

Message Type:

Data

Description:

Supports Receiver Autonomous Integrity Monitoring (RAIM)

Command Format to Request Message

$JASC,GPGRS,r[,OTHER]<CR><LF>

where:

• 'r' = message rate in Hz of 1, 0, or .2 (0 turns off the message)


Message Format:

$GPGRS,HHMMSS.SS,M,X.X ... X.X,GSID,SID*CC<CR><LF>

where:

Message Component

Description

HHMMSS.SS UTC time

M Mode:

0 = residuals used to calculate the position given in the GPGGA or GPGNS message

1 = residuals were recomputed after the GPGGA or GPGNS message position was computed

X.X ... X.X Range residuals, in meters, for satellites used in the navigation solution. Order must match order of satellite ID numbers in GPGSA message. When GPGRS message is used, the GPGSA and GPGSV messages are generally required with this message.

GSID GNSS system ID, value is 1 (GPS)

SID Signal ID, value is 1 (L1 C/A)

*CC Checksum


<LF> Line feed



467

Related Commands:

JASC,GP



468

GNGSA Message

GNGSA Message

Message Type:

Data

Description:

DOP and active satellite information

Only satellites used in the position computation are present in this message. Null fields are present when data is unavailable due to the number of satellites tracked.

Command Format to Request Message: $JASC,GNGSA,r[,OTHER]<CR><LF>

where:

• 'r' = message rate in Hz of 1 or 0 (0 turns off the message)


Message Format: $GNGSA,A,B,CC ... OO,P.P,Q.Q,R.R,GSID*CC<CR><LF>

where:

Message Component

Description

A Satellite acquisition mode (M = manually forced to 2D or 3D, A = automatic swap between 2D and 3D)

B Position mode (1 = fix not available, 2 = 2D fix, 3 = 3D fix)

CC to OO Satellites used in the position solution, a null field occurs if a channel is unused

P.P Position Dilution of Precision (PDOP) = 1.0 to 9.9

Q.Q Horizontal Dilution of Precision (HDOP) 1.0 to 9.9

R.R Vertical Dilution of Precision (VDOP) = 1.0 to 9.9

GSID GNSS system ID, value is 1 (GPS), 2 (GLONASS), 3 (GALILEO), 5 (BEIDOU)

*CC Checksum


<LF> Line feed


This message provides information specific to the satellite system(s) identified by the first two characters of the message.


469

GNGSA - GNSS information (all constellations) GPGSA - GPS information GLGSA - GLONASS information

Related Commands: JASC,GP, JASC,GN, JASC,GL



470

GPGST Message

GPGST Message

Message Type:

Data

Description:

GNSS pseudorange error statistics and position accuracy


Message Format:

$JASC,GPGST,r[,OTHER]<CR><LF>

where:



$GPGST,HHMMSS.SS,A.A,B.B,C.C,D.D,E.E,F.F,G.G*CC<CR><LF>

where:

Message Component

Description

HHMMSS.SS UTC time in hours, minutes, and seconds of the GPS position

A.A Root mean square (rms) value of the standard deviation of the range inputs to the navigation process. Range inputs include pseudoranges and differential GNSS (DGNSS) corrections.

B.B Standard deviation of semi-major axis of error ellipse, in meters

C.C Standard deviation of semi-minor axis of error ellipse, in meters

D.D Error in Eclipse’s semi major axis origination, in decimal degrees, true north

E.E Standard deviation of latitude error, in meters

F.F Standard deviation of longitude error, in meters

G.G Standard deviation of altitude error, in meters

*CC Checksum


<LF> Line feed


Related Command:


471

JASC,GP

Topic Last Updated: v1.01 / September 23, 2010


472

GPGSV Message

GPGSV Message

Message Type:

Data

Description:

GPS satellites in view

Null fields occur where data is unavailable due to the number of satellites tracked.


$JASC,GPGSV,r[,OTHER]<CR><LF>

where:

• 'r' = message rate in Hz of 05, .1, .5, .2, 1, 2, 5, 10, 20

•�� ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets)and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$GPGSV,T,M,N,II,EE,AAA,SS,…II,EE,AAA,SS,SID*CC<CR><LF>

where:

Message Component

Description

T Total number of messages

M Message number (1 to 3)

N Total number of satellites in view

II Satellite number

EE Elevation, in degrees (0 to 90)

AAA Azimuth (true), in degrees (0 to 359)

SS Signal strength, in dB-Hz (0 - 99)

To compare with SNR values found in Bin messages (such as Bin96) subtract 30 from this signal strength value for an approximate SNR value

SS - 30 = SNR (from Bin message)


*CC Checksum


<LF> Line feed


473



GPGSV – GPS information GLGSV – GLONASS information

GBGSV-BeiDou information

GAGSV – GALILEO information GQGSV – QZSS information

If you request GNGSV the receiver will respond with GPGSV messages only.

Related Command:

JASC,GP, JASC,GL, BEIDOU



474

GLGSV Message

GLGSV Message

Message Type:

Data

Description:

GLONASS satellites in view



$JASC,GLGSV,r[,OTHER]<CR><LF>

where:

• 'r' = message rate in Hz of 05, .1, .5, .2, 1, 2, 5, 10, 20

•��(and without the brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$GLGSV,T,M,N,II,EE,AAA,SS,…II,EE,AAA,SS,SID*CC<CR><LF>

where:

Message Component

Description




II Satellite number







*CC Checksum


<LF> Line feed



475





Related Commands:




476

GAGSV Message

GAGSV Message

Message Type:

Data

Description:

Galileo satellites in view



$JASC,GAGSV,r[,OTHER]<CR><LF>

where:

•�� 'r' = message rate in Hz of

•�� ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets)and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$GAGSV,T,M,N,II,EE,AAA,SS,…II,EE,AAA,SS,SID*CC<CR><LF>

where:

Message Component

Description




II Satellite number







*CC Checksum


<LF> Line feed



477


• GPGSV – GPS information

• GLGSV – GLONASS information

•��GBGSV- BeiDou information

• GAGSV – GALILEO information

• GQGSV – QZSS information


Related Commands:




478

GBGSV Message

GBGSV Message

Message Type:

Data

Description:

BeiDou satellites in view



$JASC,GBGSV,r[,OTHER]<CR><LF>

where:

· 'r' = message rate in Hz of 05, .1, .5, .2, 1, 2, 5, 10, 20•

· ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$GBGSV,T,M,N,II,EE,AAA,SS,…II,EE,AAA,SS,SID*CC<CR><LF>

where:

Message Component

Description




II Satellite number







*CC Checksum


<LF> Line feed



479





Related Commands:




480

GPHDG/HEHDG Message

GPHDG/HEHDG Message

Message Type:

Data

Description:

Magnetic deviation and variation for calculating magnetic or true heading. The message simulates data from a magnetic sensor although it does not actually contain one. The purpose of this message is to support older systems that may not be able to accept the HDT message that is recommended for use.


$JASC,GPHDG,r[,OTHER]<CR><LF>

where:

· 'r' = message rate in Hz of 20, 10, 2, 1, 0 or .2 (0 turns off the message)


Message Format:

$GPHDG,s.s,d.d,D,v.v,V*CC<CR><LF>

or

$HEHDG,s.s,d.d,D,v.v,V*CC<CR><LF>

where:

Message Component

Description

s.s Magnetic sensor reading, in degrees

d.d Magnetic deviation, in degrees

D E = Easterly deviation, W = Westerly deviation

v.v Magnetic variation, in degrees

V E = Easterly deviation, W = Westerly deviation

*CC Checksum


<LF> Line feed


You can change the HDG message header to either GP or HE using the JATT,NMEAHE command.

Related Commands:

JASC,GP


481



482

GPHEB Message

GPHEB Message

Description:

Heave value in meters


$JASC,GPHEV,1<CR><LF>

Message Format:

$GPHEV,H,*CC<CR><LF>

where:

Message Component

Description

H Heave value, in meters

*CC Checksum


<LF> Line feed


Related Commands:

JASC,GP



483

GPRMC Message

GPRMC Message

Message Type:

Data

Description:

Contains recommended minimum specific GNSS data


$JASC,GPRMC,r[,OTHER]<CR><LF>

where:

· 'r' = message rate in Hz of 10, 2, 1, 0, or .2 (0 turns off the message)

· ',OTHER' = optional field,enacts a change on the current port when you send the command without it (and without the brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$GPRMC,HHMMSS.SS,A,DDMM.MMM,N,DDDMM.MMM,W,Z.Z,Y.Y,DDMMYY,D.D,V,M,NS*CC<CR><LF

where:

Message Component

Description

HHMMSS.SS UTC time in hours, minutes, and seconds of the GPS position

A Status (A = valid, V = invalid)

DDMM.MMM Latitude in degrees, minutes, and decimal minutes

N Latitude location (N = North latitude, S = South latitude)

DDDMM.MMM Longitude in degrees, minutes, and decimal minutes

W Longitude location (E = East longitude, W = West longitude)

Z.Z Ground speed, in knots

Y.Y Track made good, reference to true north

DDMMYY UTC date of position fix in day, month, and year

D.D Magnetic Variation, in degrees

V Variation sense (E = East, W = West)


484

M Mode indicator

Variable length valid character field type with the first two characters currently defined.

• First character indicates the use of GPS satellites

If another satellite system is added to the standard, the mode indicator will be extended to three characters. New satellite systems shall always be added on the right, so the order of characters in the Mode Indicator is: GPS, GLONASS, other satellite systems in the future.

The characters shall take one of the following values:

• N = No fix. Satellite system not used in position fix, or fix not valid

• A = Autonomous. Satellite system used in non-differential mode in positionfix

• D = Differential. Satellite system used in differential mode in position fix

• P = Precise. Satellite system used in precision mode. Precision mode is defined as no deliberate degradation (such as Selective Availability) and higher resolution code (P-code) is used to compute position fix.

• R = Real Time Kinematic. Satellite system used in RTK mode with fixed integers

• F = Float RTK. Satellite system used in real time kinematic mode with floating integers

• E = Estimated (dead reckoning) mode

• M = Manual input mode

• S = Simulator mode

The mode indicator shall not be a null field.

NS Navigational status; options are:

• S = Safe

• C = Caution

• U = Unsafe

• V = Not valid for navigation

*CC Checksum


<LF> Line feed


485


Related Commands:

JASC,GP



486

GPHDT/HEHDT Message

GPHDT/HEHDT Message

Description:

True heading of the vessel. This is the direction that the vessel (antennas) is pointing and is not necessarily the direction of vessel motion (the course over ground).


$JASC,GPHDT,r[,OTHER]<CR><LF>

where:



Message Format:

$GPHDT,X.X,T*CC<CR><LF>

or

$HEHDT,X.X,T*CC<CR><LF>

where:

Message Component

Description

X.X Current heading, in degrees

T Indicates true heading

*CC Checksum


<LF> Line feed


You can change the HDT message header to either GP or HE using the JATT,NMEAHE command.

Related Commands:

JASC,GP



487

GPHDM/HEHDM Message

GPHDM/HEHDM Message

Message Type:

Data

Description:

Magnetic heading of the vessel derived from the true heading calculated


$JASC,GPHDM,r[,OTHER]<CR><LF>

where:


· ',OTHER' = optional field, enacts a change on the currentport when you send the command without it (and without the brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$GPHDM,X.X,M*CC<CR><LF>

or

$HCHDM,X.X,M*CC<CR><LF>

where:

Message Component

Description

X.X Current heading, in degrees

M Indicates magnetic heading

*CC Checksum


<LF> Line feed


You can change the HDM message header to either GP or HE using the JATT,NMEAHE command.

Related Commands:

JASC,GP



488

GPROT/HEROT Message

GPROT/HEROT Message

Message Type:

Data

Description:

Vessel’s rate of turn (ROT) information


$JASC,GPROT,r[,OTHER]<CR><LF>

where:

· 'r' = messagerate in Hz of 20, 10, 2, 1, 0 or .2 (0 turns off the message)


Message Format:

$GPROT,X.X,A*CC<CR><LF>

or

$HEROT,X.X,A*CC<CR><LF>

where:

Message Component

Description

X.X Rate of turn in °/min (negative when the vessel bow turns to port)

A Flag indicating the data is valid

*CC Checksum


<LF> Line feed


You can change the ROT message header to either GP or HE using the JATT,NMEAHE command.

Related Commands:

JASC,GP



489

GPRRE Message

GPRRE Message

Message Type:

Data

Description:

Satellite range residuals and estimated position error


$JASC,GPRRE,r[,OTHER]<CR><LF>

where:

· 'r' = message rate in Hz of 1 or 0 (0 turns off the message)


Message Format:

$GPRRE,N,II,RR ... II,RR,HHH.H,VVV.V*CC<CR><LF>

where:

Message Component

Description

N Number of satellites used in position computation

II Satellite number

RR Range residual, in meters

HHH.H Horizontal position error estimate, in meters

VVV.V Vertical position error estimate, in meters

*CC Checksum


<LF> Line feed


Related Commands:

JASC,GP



490

GPVTG Message

GPVTG Message

Message Type:

Data

Description:

Course over ground and ground speed


$JASC,GPVTG,r[,OTHER]<CR><LF>

where:

· 'r' = messager ate in Hz of 20, 10, 2, 1, 0, or .2 (0 turns off the message)


Message Format:

$GPVTG,TTT,T,MMM,M,NNN.NN,N,KKK.KK,K,X*CC<CR><LF>

where:

Message Component

Description

TTT True course over ground (COG) in degrees (000 to 359)

T True course over ground indicator (always 'T')

MMM Magnetic course over ground in degrees (000 to 359)

M Magnetic course over ground indicator (always 'M')

NNN.NN Speed over ground in knots

N Speed over ground in knots indicator (always 'N')

KKK.KK Speed over ground in km/h

K Speed over ground in km/h indicator (always 'K')

X Mode

A = Autonomous mode D = Differential mode

E = Estimated (dead reckoning) mode M = Manual input mode

S = Simulator mode N = Data not valid

*CC Checksum


<LF> Line feed


491

Sample message output:

$GPVTG,103.85,T,92.79,M,0.14,N,0.25,K,D*1E


Related Commands:

JASC,GP



492

GPZDA Message

GPZDA Message

Message Type:

Data

Description:

UTC time and date information


$JASC,GPZDA,r[,OTHER]<CR><LF>

where:

· 'r' = message rate in Hz of 20, 10, 2, 1, 0, or .2 (0 turns off the message)


Message Format:

$GPZDA,HHMMSS.SS,DD,MM,YYYY,XX,YY*CC<CR><LF>

where:

Message Component

Description

HHMMSS.SS UTC time in hours, minutes, and seconds of the GPS unit

DD Day (0 to 31)

MM Month (1 to 12)

YYYY Year

XX Local zone description in hours (-13 to 13)

YY Local zone description in minutes (0 to 59)

*CC Checksum


<LF> Line feed


Related Commands:

JASC,GP



493

PASHR Message

PASHR Message

Message Type:

Vector, Data

Description:

Time, true heading, roll, pitch, and heave data in one message


$JASC,PASHR,r[,OTHER]<CR><LF>

where:

· 'r' = message rate (in Hz) of 20, 10, 5, 4, 2, 1, 0, or .2 (0 turns off the message)

· ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets) and enacts a change on the other port when you send the command with it (without th brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.

Message Format:

$PASHR,hhmmss.ss,HHH.HH,T,RRR.RR,PPP.PP,heave,rr.rrr,pp.ppp,hh.hhh,QF*CC<CR><

where:

Message Component

Description

hhmmss.ss UTC time

HHH.HH Heading value in decimal degrees

T True heading (T displayed if heading is relative to true north)

RRR.RR Roll in decimal degrees (- sign will be displayed when applicable)

PPP.PP Pitch in decimal degrees (- sign will be displayed when applicable)

heave Heave, in meters

rr.rrr Roll standard deviation in decimal degrees

pp.ppp Pitch standard deviation in decimal degrees

hh.hhh Heading standard deviation in decimal degrees

QF Quality Flag

• 0 = No position

• 1 = All non-RTK fixed integer positions

• 2 = RTK fixed integer position

*CC Checksum



494

<LF> Line feed


Related Commands:

JASC,PASHR



495

HGNSS Proprietary Messages


496

PSAT, ATTSTAT Message

PSAT,ATTSTAT Message

Message Type:

Data

Description:


$JASC,PSAT,ATTSTAT,r[,OTHER]<CR><LF>

where:


• ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$PSAT,ATTSTAT,S,MSEP,CSEP,Heading,TYPE,Pitch,Roll,Q,N,SYS,NUMTRACKED,SNR,NUMUSED,*CC

where:

Message Component

Description

S ID of the secondary antenna

MSEP custom separation between antennas manually entered (when the value is MOV, it means MOVEBASE is on)

CSEP auto GPS antenna separation

Heading Heading

TYPE Heading indicator, value is: N= Heading used GNSS

G=Heading used gyroscope

Pitch pitch

Roll roll

Q The current setting of antenna directivity, value is P= antennas placed front and back, output pitch R= antennas placed left and right, output roll

N The number of satellite used by the secondary antenna


497

SYS Systems in use:

• GPS: L1, L2, L5

• GLONASS: G1, G2

• BDS: B1,B2 B3


NUMTRACKED Number of satellites tracked for each system


• A is > 20 dB

• B is > 18 dB

• C is > 15 db

• D is <= 15 dB

NUMUSED Number of satellites used by each system

*CC Checksum


<LF> Line feed

Example:

$PSAT,ATTSTAT,1,MOV,0.504,334.75,N,1.71,8.0,P,30,(,L1,L2,G1,G2,B1,B2,B3,)(,12,10,9,9,10,10,0,)(, A,A,C,B,B,B,D,)(,12,10,8,8,9,9,0)*22


Issuing the JSAVE command after setting JASC,PSAT,ATTSTAT to 1 (message on at 1Hz) does not save this setting. You must JASC,PSAT,ATTSTAT (set it to 1) each time you power on the receiver.


JASC,PSAT,ATTSTAT

Topic Last Updated: v2.0/April 30, 2019


498

PSAT, GBS Message

PSAT,GBS Message

Message Type

Data

Description:

Used to support Receiver Autonomous Integrity Monitoring (RAIM)


$JASC,GPGBS,r[,OTHER]<CR><LF>

where:

· 'r' = message rate in Hz of 1 or 0 (0 turns off the message)


Message Format:

$PSAT,GBS,HHMMSS.SS,KK.K,LL.L,AA.A,ID,P.PPPPP,B.B,S.S,FLAG,GSID,SID*CC<CR><LF

where:

Message Component

Description

HHMMSS.SS UTC time in hours, minutes, and seconds of the GGA or GNS fix associated with this sentence

KK.K Expected error in latitude

LL.L Expected error in longitude

AA.A Expected error in altitude

ID ID number of most likely failed satellite

P.PPPPP Probability of HPR fault

B.B Estimate of range bias, in meters, on most likely failed satellite

S.S Standard deviation of range bias estimate

FLAG Based on horizontal radius: 0 = Good

1 = Warning

2 = Bad or Fault

GSID GNSS system ID, value is 1 (GPS)


*CC Checksum



499

<LF> Line feed


Related Commands:

JASC,GP



500

PSAT, HPR Message

PSAT,HPR Message

Message Type:

Data

Description:

Proprietary NMEA message that provides the true heading,pitch, roll, and time in a single message

During normal operation heading and pitch are derived from GPS and roll comes from the inertial sensor. While coasting heading is based on gyro and pitch/roll are from the inertial sensor.


$JASC,GPHPR,r[,OTHER]<CR><LF>

where:

•�� 'r' = message rate in Hz of 20, 10, 2, 1, 0 or .2 (0 turnsoff the message)


Message Format:

$PSAT,HPR,TIME,HEADING,PITCH,ROLL,TYPE*CC<CR><LF>

where:

Message Component

Description

TIME UTC time (HHMMSS.SS)

HEADING Heading (degrees)

PITCH Pitch (degrees)

ROLL Roll (degrees)

TYPE N = GPS derived heading G = gyro heading

*CC Checksum


<LF> Line feed


Related Commands:

JASC,GP



501

PSAT, INTLT Message

PSAT,INTLT Message

Message Type:

Data

Description:

Proprietary NMEA message that provides the tilt measurements from the internal inclinometers in degrees. It delivers an output of crude accelerometer measurements of pitch and roll with no temperature compensation or calibration for GPS heading/pitch/roll.

Pitch and roll are factory calibrated over temperature to be accurate to ±3°C.

CAUTION: User calibration will clear out precise factory calibration.


$JASC,INTLT,r[,OTHER]<CR><LF>

where:


•� ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$PSAT,INTLT,PITCH,ROLL*CC<CR><LF>

where:

Message Component

Description

PITCH Pitch (degrees)

ROLL Roll (degrees)

*CC Checksum


<LF> Line feed


Related Commands:

JASC,GP



502

PSAT, BLV Message

PSAT, BLV Message

Message Type:

Data, Local Differential and RTK

Description:

Contains RTK fix progress information


$JASC,PSAT,BLV,r[,OTHER]<CR><LF>

where:



Message Format:

$PSAT,BLV,HHMMSS.SS,DATE,A.A,B.B,C.C,ID,STATE,number,pdop*CC<CR><L F>

where:

Message Component

Description

HHMMSS.SS UTC time (HHMMSS.SS)

DATE Date (day-month-year)

A.A North component of base to rover vector ( m )

B.B Esat component of base to rover vector ( m )

C.C Up component of base to rover vector ( m )

ID Base station ID

STATE Quality indicator; value is:

• 0 = no position


• 2 = differentially corrected position (SBAS, DGPS, Atlas DGPS service, L-Dif and e-Dif)

• 4 = RTK fixed integer (Crescent RTK, Eclipse RTK) ,Atlas high precision services converged

5 = RTK float, Atlas high precision services converging

NUMBER Number of used satellite


503

PDOP PDOP

*CC Checksum


<LF> Line feed

Example:

$PSAT,BLV,000151.00,051115,-0.001,0.002,-0.003,0333,4,20,1.2*52


Related Commands:

JASC, PSAT, BLV



504

PSAT, FVI Message

PSAT,FVI Message

Message Type:


Description:

Contains much more special information


$JASC,PSAT,FVI,r[,OTHER]<CR><LF>

where:

• 'r' = message rate in Hz of 0,1,2,5,10,20 (0 turns off the message)


Message Format:

$PSAT,FVI,HHMMSS.SS, DDMM.MMMM, DDDMM.MMMM, AA.AAA,

E.E,F.F,G.G,HHH.HHH,hh.hhh,PP.PP,pp.ppp,RR.RRR,rr.rrr,ve.eee,v n.nnn,vu.uuu,vv.vvv,LE.EEE,LN.NNN,LU.UUU,ZONE,UEEE.EEEE,UNNN.N NNN,PN,SN,p,h,L,sss*CC<CR><LF>

where:

Message Component

Description

HHMMSS.SS UTC time

DDMM.MMMM Latitude in degrees and decimal minutes

DDMM.MMMM Longitude in degrees, and decimal minutes

AA.AAA altitude

E.E Standard deviation of latitude error, in meters

F.F Standard deviation of longitude error, in meters

G.G Standard deviation of altitude error, in meters

HHH.HHH Heading (degrees)

hh.hhh. Standard deviation of heading error, in degrees

PP.PP Pitch (degrees)

pp.ppp Standard deviation of pitch error, in degrees

RR.RRR Roll (degrees)

rr.rrr Standard deviation of roll error, in degrees


505

Ve.eee East to speed（m/s）

Vn.nnn North to speed (m/s)

Vu.uuu Vertical speed (m/s)

Vv.vvv Speed over ground (m/s)

LE.EEE East component of master to slave vector ( m )

LN.NNN North component of master to slave vector ( m )

LU.UUU Up component of master to slave vector ( m )

ZONE projection area

UEEE.EEEE East to positon of projection area

UNNN.NNNN North to position of projection area

PN Number of satellites used by the primary antenna

SN Number of satellites used by the secondary antenna

P Position indicator; value is:

• 0 = no position


• 2 = differentially corrected position (SBAS, DGPS ,Atlas DGPS service, L-Dif ande-Dif)

• 4 = RTK fixed integer (Crescent RTK, Eclipse RTK), Atlas high precision services converged

• 5 = RTK float, Atlas high precision services converging

H Heading indicator; value is:

• 0 = no heading or heading is invalid

• 1 = heading is valid

L Distance between base and rover in meter


*CC Checksum


<LF> Line feed

Example:


506

$PSAT,FVI,011657.00,40.071345258,116.326680384,51.2922,0.001,0.003,0.003,28.358,0.106,-5.306,0.087,,,0.030,- 0.001,-0.062,0.030,-0.001,0.001,-0.002,117.0,442562.296,4437668.138,25,26,4,1,4.759,1*6B


JASC,PSAT,FVI



507

PSAT, RPTKPROG Message

PSAT,RTKPROG Message

Message Type:


Description:

Contains RTK fix progress information

$JASC,PSAT,RTKPROG,r[,OTHER]<CR><LF>


where:



Message Format:

$PSAT,RTKPROG,,R,F,N,SS1,SS2,SS3,MASK*CC<CR><LF>

where:

Message Component

Description

R 1 = Ready to enter RTK ambiguity fix

0 = Not ready to enter RTK ambiguity fix

F 1 = Receiver running in RTK ambiguity fix mode

0 = Receiver not running in RTK ambiguity fix mode

N Number of satellites used to fix

SS1 summer-1

SS1 must be significantly larger than SS2 and SS3 to enter R=1 mode

SS2 summer-2

SS3 summer-3

MASK Bit mask; bits identify which GNSS observables are being received from base recently (1 = GPS, 3 = GPS + GLONASS)

*CC Checksum


<LF> Line feed

Example:

$PSAT,RTKPROG,1,1,24,243.0,0.0,0.0,3*4F<CR><LF>


508

• Ready to enter RTK ambiguity fix

• Receiver running in RTK ambiguity fix mode

• 24 satellites used to fix summer-1 is 243.0, summer-2 is 0, summer-3 is 0

• Bit mask is 3 (GPS + GLONASS)


Issuing the JSAVE command after setting JASC,PSAT,RTKPROG to 1 (message on at 1Hz) does not save this setting. You must enable JASC,PSAT,RTKPROG (set it to 1) each time you power on the receiver.

Related Commands:

JASC,PSAT,RTKPROG



509

PSAT, RTKSTAT Message

PSAT,RTKSTAT Message

Message Type


Description:

Contains the most relevant parameters affecting RTK


$JASC,PSAT,RTKSTAT,r[,OTHER]<CR><LF>

where:


•� ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message Format:

$PSAT,RTKSTAT,MODE,TYP,AGE,SUBOPT,DIST,SYS,NUM,SNR,RSF,BSF,HAG,ACCSTAT,SNT*CC

where:

Message Component

Description

MODE Mode (FIX,FLT,DIF,AUT,NO)

TYP Correction type (DFX,ROX,CMR,RTCM3,CMR+,...)

AGE Age of differential corrections, in seconds

SUBOPT Subscription code (see Interpreting the $JK 'Date'/Subscription Codes to determine the meaning of the subscription code)

DIST Distance to base in kilometers

SYS Systems in use:

• GPS: L1, L2, L5

• GLONASS: G1, G2

• BDS: B1,B2 B3


NUM Number of satellites used by each system


510


• A is > 20 dB

• B is > 18 dB

• C is > 15 db

• D is <= 15 dB

RSF Rover slip flag (non zero if parity errors in last 5 minutes, good for detecting jamming and TCXO issues)

BSF Base slip flag

HAE Horizontal accuracy estimation

ACCSTAT RTK accuracy status (hex), where:




• 0x8 = HDOP high, poor satellite geometry

• 0x10 = fewer than 6 L1 sats used

• 0x20 = poor L1 SNRs


• 0x80 = not in RTK mode or RTK only recently solved (< 10 secs ago)

• 0x100 = RTK solution compromised, may fail

The status message can be any of the above or any combination of the above. For example, a status message of '047' indicates the following:





SNT Ionospheric scintillation, values are:

• 0 (little or no scintillation - does not adversely affect RTK solution)

• 1-100 (scintillation detected - adversely affects RTK solution)

*CC Checksum



511

<LF> Line feed

Example:

$PSAT,RTKSTAT,FIX,ROX,1,007F,9.5,(,L1,L2,G1,G2,)(,14,11,9,9,)(,A,A,A,A,),0,1,0.011,000

· Fixed mode

· ROX corrections

· Diff age = 1 second

· Subscribed options = 7F (see Understanding Additive Codes for information on subscriptions)

· Distance to base = 9.5 km

· L1,L2,G1,G2 are the systems in use

· Satellites used: L1 = 14, L2 = 11, G1 = 9, G2 = 9

· SNR quality is (> 20 dB), (> 20 dB), (> 20 dB), (> 20dB)

· Rover slip flag = 0

· Base slip flag = 1

· Horizontal accuracy estimation = 0.011

· RTK accuracy status = 000 (no issues or errors)

· Little or no ionospheric scintillation


Issuing the JSAVE command after setting JASC,PSAT,RTKSTAT to 1 (message on at 1Hz) does not save this setting. You must e JASC,PSAT,RTKSTAT (set it to 1) each time you power on the receiver.


JASC,PSAT,RTKSTAT command

JQUERY,RTKSTAT message



512

PSAT, VCT Message

PSAT,VCT Message

Message Type:


Description:


$JASC,PSAT,VCT,r[,OTHER]<CR><LF>

where:

'r' =0,1,2,5,10,20HZ (0 turns off the message)


Message Format:

$PSAT,VCT,ID,HHMMSS.SS,A.A,B.B,C.C,D,E.E,F.F,G.G,H.H*CC<CR><LF>

where:

Message Component

Description

ID antenna pair ID (always 1 for now)


A.A Heading in degree

B.B Pitch in degree

C.C Roll in degree

N Normal, not coasting

E.E distance between antennas ( m )

F.F North component of master to slave vector ( m )

G.G East component of master to slave vector ( m )

H.H Up component of master to slave vector ( m )

*CC Checksum


<LF> Line feed

Example:

$PSAT,VCT,1,011657.00,28.358,-5.306,,N,4.7591,4.1530,2.2823,- 0.4401*1F


513


Related Command:

JASC,PSAT,VCT



514

TSS1 Message

TSS1 Message

Message Type

Vector, Data

Description:

Heave, pitch,and roll message in the commonly used TSS1 message format


$JASC,PTSS1,r[,OTHER]<CR><LF>

where:

•�� 'r' = message rate (in Hz) of 0 (off), 0.25,0.5, 1, 2, 4, 5, 10, or 20 (if subscribed)

•�� ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets) and enacts a change on the other port when you send the command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.

Message Format:

:XXAAAASMHHHHQMRRRRSMPPPP<CR><LF>

where:

Message Component

Description

XX Horizontal acceleration (hex value), in 3.83 cm/s², with a range of zero to 9.81 m/s²

AAAA Vertical acceleration (hex value - 2’s complement), in 0.0625 cm/s², with a range of –20.48 to

+20.48 m/s²

S Space character


HHHH Heave, in centimeters, with a range of –99.99 to +99.99 meters

Q Status flag

Value Description

h Heading aided mode (settling) - The System is receiving heading aiding signals from a gyrocompass but is still awaiting the end of the three minutes settling period after power-on or a change of mode or heave bandwidth.

The gyrocompass takes approximately five minutes to settle after it has been powered on. During this time, gyrocompass aiding of the System will not be perfect. The status flag does NOT indicate thiscondition.

F Full aided mode (settled condition) - The System is receiving and using aiding signals from a gyrocompass and from a GNSS receiver or a Doppler log.



515

RRRR Roll, in units of 0.01 degrees (ex: 1000 = 10°), with a range of –99.99° to +99.99°

S Space character


PPPP Pitch, in units of 0.01 degrees (ex: 1000 = 10°), with a range of –99.99° to +99.99°


<LF> Line feed

Example:

:020010 -0001F 0023 -0169

where:

• XX = 02, horizontal acceleration, which is 7.66 cm/s²

• (XX = 02 (hex) = decimal 2, multiplied by 3.83 cm/s² yields 7.66 cm/s²)

• AAAA = 0010, vertical acceleration, which is 1 cm/s²

• (AAAA = 0010 (hex), which = decimal 16, multiplied by 0.0625 cm/s² yields 1 cm/s²)

• S = (space)

• M = (minus), meaning following heave value is negative

• HHHH = 0001, heave, which is 1 cm (-1 cm based on the M value)

• Q = F, status flag, which is full aided mode

• M = (space),meaning following roll value is positive

• RRRR = 0023, roll, which is 0.23°

• S = (space)

• M = (minus), meaning following pitch value is negative

• PPPP = 0169, pitch, which is 1.69°

Related Commands

JASC,PTSS1


517

RTCM SC-104 Protocol RTCM SC-104 is a standard that defines the data structure for differential correction information for a variety of differential correction applications. It was developed by the Radio Technical Commission for Maritime services (RTCM) and has become an industry standard for communication of correction information. RTCM is a binary data protocol and is not readable with a terminal program. Because it is a binary format and not ASCII text, it appears as "garbage" data on screen.

The following is an example of how the RTCM data appears on screen:

mRMP@PJfeUtNsmMFM{nVtIOTDbA^xGh~kDH`_FdW_yqLRryrDuh cB\@}N`ozbSD@O^}nrGqkeTlpLLrYpDqAsrLRrQN{zW|uW@H`z]~aG xWYt@I`_FxW_qqLRryrDCikA\@Cj]DE]|E@w_mlroMNjkKOsmMFM{ WDw W@HVEbA^xGhLJQH`_F`W_aNsmMFM[WVLA\@S}amz@ilIuP qx~IZhTCpLLrYpdP@kOsmMFM[kVDHwVGbA^P{WWuNt_SW_yMs mMnqdrhcC\@sE^ZfC@}vJmNGAHJVhTCqLRryrdviStW@H_GbA^ P{wxu[k

All Hemisphere GNSS receivers support RTCM v2.x Type 1, Type 5, Type 6, and Type 9 messages for DGPS positioning.

Hemisphere GNSS receivers do not support RTCM v2.x messages for RTK positioning. However RTCM v3.x messages (Type 1001 through 1008) are suitable for RTK positioning.

See Reference Documents for RTCM contact information to purchase a copy of the RTCM SC-104 specifications.


519

Hemisphere GNSS Proprietary Binary Interface Hemisphere GNSS proprietary binary messages may be output from the receiver simultaneously with NMEA 0183 messages.

Binary messages are inherently more efficient than NMEA 0183 and would be used when maximum communication efficiency is required. Some receiver-specific pieces of information are only available through binary messages, such as raw data for post processing.


521

Firmware About Firmware Hemisphere GNSS products are built on one of three receiver platforms, each of which has specific firmware applications available.

· Crescent - WAAS, e-Dif,Atlas service, L-Dif/RTK base, L-Dif/RTK rover

· Crescent Vector - WAAS, RTK rover

· Eclipse - WAAS/RTK base, RTK rover Atlas high precision services

Some products may require purchasing a subscription code to unlock specific functionality. See Subscription Codes for more information.

As its name suggests, firmware is somewhere between hardware and software. Like software, it is a computer program which is executed by a microprocessor or a micro-controller. But it is also tightly linked to a piece of hardware, and has little meaning outside of it.

Within the context of GNSS, the hardware is the GNSS receiver and it is the receiver’s processor that executes the firmware. The receiver’s processor supports two simultaneous versions of firmware but only one version operates at a given time. The two versions—referred to as applications—may have different functionality.

Use the JAPP command to change between two receiver applications.

Topic last updated: v1.07/ February 16, 2017

Firmware

522

Using RightARM to Load Firmware RightARM is Hemisphere GNSS software that allows you to load the various GNSS receiver firmware options and updates as they are provided by Hemisphere GNSS.

To load the firmware:

1. Download the latest version of RightARM from http://www.hemispheregnss.com.

2. Install RightARM application on your computer.

3. Connect the receiver to your computer and power on the receiver.

4. Double-click the RightARM icon to launch the program. The following screen appears.

1. Click the Open Receiver button or select Receiver > Connect. The Open Receiver window appears, so you can identify a connected receiver.

http://www.hemispheregps.com/


523

2. Select the Comm Port on your computer to which the receiver is connected, select the 19200 baud rate for the receiver, and then click OK.

Note: You must set the baud rate to 19200.

When RightARM has successfully connected to the receiver the following message appears in the lower left corner of the screen.

3. Click the Programming View button . The Programming View window appears, enabling you to select different firmware programming options.

Firmware

524

4. Select the Program Type you want to install and then click Select File. The Open window appears.

5. Select the required firmware file from the location where you saved it on your computer and click Open. "File Loaded" appears in the status window on the Programming View window.

6. Click the Erase and Program button to erase the firmware that is currently installed on the receiver in the selected application location and install the newly selected file in its place. "Erasing...Please Wait" appears in the Status field and a progress bar below this message indicates the programming progress. Once the new firmware has been successfully loaded on the receiver "Programming Done" appears in the Status field.

7. Once the appropriate firmware has been loaded, click the Close button to close the Programming View window.

8. Exit RightARM, turn off your receiver, and then disconnect the receiver from your computer.



525

Subscriptions Codes This section covers:

o Finding the serial number and inputting a subscription code (e-Dif, RTK, 20 Hz or 10Hz, etc.) into a Hemisphere GNSS receiver

o Viewing the status and interpreting the $JI subscription date codes

o The difference between the receiver’s response to the $JK and $JI commands


Firmware

526

Subscribing to an Application Activating an application code on a Hemisphere GNSS receiver requires the following: Serial communication cable to connect the Hemisphere GNSS receiver to the serial COM port on the computer·��

Download SLXMon from the www.hemispheregnss.com and install it on your PC or use a generic terminal program such as HyperTerminal

Load the application to which to subscribe onto the Hemisphere GNSS receiver (see Using RightARM to Load Firmware)

Purchase the application subscription code from Hemisphere GNSS or an authorized Hemisphere GNSS representative

To activate the application on a Hemisphere GNSS receiver:

1. Connect the Hemisphere GNSS receiver to the serial COM port on the computer.

Start SLXMon.

2. Select File > Connect and then select the appropriate Comm Port and Baud Rate to open communication with the receiver.

3. Select Control > View Command Page.

4. In the Receiver Command Page window type $JAPP in the Message box and then click Send.

5. Confirm which applications are loaded onto the receiver and the order in which they appear in the Reply box.

Example Response (in Reply box):

$>JAPP,WAAS,DIFF

where WAAS (SBAS, EGNOS, MSAS) is the number one application (or application number 1) and DIFF (same as e-Dif) is the "other" application (or application number 2)

If DIFF is listed as application number 2 in the $JAPP response then type the following command in the Message box: $JAPP,O where 'O' is the "other" application in the example. This swaps the two applications so that DIFF is be the current application.

Type the following command in the Message box:

$JI

The first number in the response is the serial number of the receiver.

Example Response (in Reply box):

$>JI,810133,1,3,09031998,01/06/1998,12/31/2018,3.5,31

The serial number is 810133. You will need to provide it to Hemisphere GNSS with your request for an e-Dif subscription code.

Type the following command in the Message box after receiving the subscription code from Hemisphere GNSS:

$JK,nnnn

where 'nnnn' is the subscription number. The receiver will respond with "subscription accepted."




527

Interpreting the $JK 'Date'/Subscription Codes Subscription codes enable GNSS differential correction sources on your receiver. When discussing them it is important to understand the following.

The YYYY component of a MM/DD/YYYY formatted date—returned by the JK command—is not always just the year component of that date. When a date’s year starts with 30, only the 30 represents the year - and that year is 3000. A subscription expiration date of 01/01/3000 effectively means there is no expiration date.

The last two digits of the 30YY 'date' represent the data output rate and the GNSS differential correction sources that have been subscribed to and are therefore enabled on your receiver. Hemisphere GNSS refers to these two digits as the Additive Code (see Understanding Additive Codes).

The 30 and the 00 in the 'year' 3000, then, represents "Expires 3000 (so effectively does not expire), the data rate is 10 Hz, and SBAS is enabled." The 'year' 3015 indicates "Expires 3000, the data rate is 20 Hz and differential correction sources SBAS/e-Dif/RTK and L-Dif have been subscribed to and are enabled."

Below is an example of the $JK command response, part of which is the subscription start and expiration dates (the Date Code is shaded).

$>JK,01/01/3000,0


Firmware

528

Understanding Additive Codes

Tables 1 and 2 below provide subscription information for Crescent and Eclipse receivers, where the data rate and subscription are indicated by the 'date' returned by the JK command. For Eclipse II receivers, refer to Eclipse II Subscription Codes. The part of the date that indicates the data rate and subscription code is called the Additive Code. The last two digits in the subscription expiration date’s ‘year’ comprise the Additive Codes, that is, the available data output rate from the receiver, plus the subscriptions—the enabled GPS differential correction sources.

Table 3 outlines the components of the Crescent, Eclipse, and Eclipse II Additive Codes. The subscription codes have different additive components for Crescent, Eclipse, and Eclipse II.

Table 1: Crescent Subscription Codes

Date Code (Additive Code)

Hex Code Maximum Data Rate

Subscription Description

3000 (0) HEX 0 10 Hz SBAS enabled

3001 (1) HEX 1 20 Hz SBAS enabled

3002 (0+2) HEX 2 10 Hz SBAS, e-Dif enabled

3003 (1+2) HEX 3 20 Hz SBAS, e-Dif enabled

3004 (0+4) HEX 4 10 Hz SBAS, RTK Rover enabled

3005 (1+4) HEX 5 20 Hz SBAS, RTK Rover enabled

3006 (0+2+4) HEX 6 10 Hz SBAS, RTK Rover, e-Dif enabled

3007 (1+2+4) HEX 7 20 Hz SBAS, RTK Rover, e-Dif enabled

3008 (0+8) HEX 8 10 Hz SBAS, L-Dif Rover, L-Dif Base, RTK Base enabled

3009 (1+8) HEX 9 20 Hz SBAS, L-Dif Rover, L-Dif Base, RTK Base enabled

3010 (0+2+8) HEX A 10 Hz SBAS, L-Dif Rover, L-Dif Base, RTK Base, e-Dif enabled

3011 (1+2+8) HEX B 20 Hz SBAS, L-Dif Rover, L-Dif Base, RTK Base, e-Dif enabled

3012 (0+4+8) HEX C 10 Hz SBAS, L-Dif Rover, L-Dif Base, RTK Rover, RTK Base enabled

3013 (1+4+8) HEX D 20 Hz SBAS, L-Dif Rover, L-Dif Base, RTK Rover, RTK Base enabled

3014 (0+2+4+8) HEX E 10 Hz SBAS, L-Dif Rover, L-Dif Base, RTK Rover, RTK Base, e-Dif enabled

3015 (1+2+4+8) HEX F 20 Hz SBAS, L-Dif Rover, L-Dif Base, RTK Rover, RTK Base, e-Dif enabled

Table 2: Eclipse Subscription Codes

Date Code (Additive Code)

Hex Code Maximum Data Rate

Subscription Description

3000 (0) HEX 0 10 Hz SBAS, Atlas enabled

3001 (1) HEX 1 20 Hz SBAS,Atlas enabled


529

3004 (0+4) HEX 4 10 Hz SBAS,Atlas , RTK Rover, RTK Base, Raw L1/L2 data enabled

3005 (1+4) HEX 5 20 Hz SBAS,Atlas , RTK Rover, RTK Base, Raw L1/L2 data enabled

3008 (0+8) HEX 8 10 Hz SBAS,Atlas , RTK Base, Raw L1/L2 data enabled

3009 (1+8) HEX 9 20 Hz SBAS,Atlas , RTK Base, Raw L1/L2 data enabled

3016 (0+16) HEX 10 10 Hz SBAS,Atlas , Raw L1/L2 data enabled

3017 (1+16) HEX 11 20 Hz SBAS,Atlas , Raw L1/L2 data enabled

Table 3: Crescent, Eclipse, and Eclipse II Additive Codes Components

Crescent Eclipse Eclipse II

Code Description Code Description Code Description

0 10 Hz 0 10 Hz 0 10 Hz

1 20 Hz 1 20 Hz 1 20 Hz

2 e-Dif 2 n/a 2 e-Dif

4 L-Dif Rover, L-Dif Base, RTK Rover

4 Raw L1/L2 Data, RTK Base, RTK Rover

4 RTK Rover (minimum L1 only)

8 RTK Base 8 Raw L1/L2 Data, RTK Base 8 RTK Base (minimum L1 only)

16 n/a 16 Raw L1/L2 Data 16 Raw Data (minimum L1 only)

32 n/a 32 n/a 32 L2 signals

64 n/a 64 n/a 64 GLONASS signals (minimum L1 only)

Crescent Additive Code Examples

• 10 Hz (SBAS), e-Dif, and RTK is 0+2+4 = 6 (so 3006)

• 20 Hz (SBAS), e-Dif, and RTK is 1+2+4 = 7 (so 3007)

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530

Comparing the JI and JK Responses Example 1:

In the following Crescent examples, the Date Code is shaded.

JI query date code example:

$>JI,311077,1,7,04102005,01/01/1900,01/01/3000,6.8Hx,46

JK query date code example:

$>JK,01/01/3000,0,(1, 2, 5 or no number)

In the JK example the last two digits ('00') of the Date Code ('3000') represent the Hex Code (the second column of Table 2 above).

The last digit to the right (1, 2, 5 or no number) is the Downgrade Code...this is the output rate in Hertz indicating a downgrade from the default of 10 Hz. So if 1, 2 or 5 does not appear (no number), the output rate is the default 10 Hz.

The Date Codes are identical in either query and are directly related to each other. Also, the last digit in the JK query is the hexadecimal equivalent of the last two digits in the Date Code. The following example further illustrate this (Date Code is shaded).

Note: The JI response provides the decimal Date Code while the JK response provides both the decimal Date Code and the hex Date Code (the Hex Code).

Example 2:

$>JI,311077,1,7,04102005,01/01/1900,01/01/3015,6.8Hx,46

JK query date code example:

$>JK,01/01/3015,F

In this example the last two digits ('15') of the Date Code ('3015') is the decimal equivalent of the last value ('F'), which is the Hex Code (see the last row in Table 1 above). Example shows no downgrade code.



531

Eclipse II Subscription Codes Use the information below to determine your Eclipse II subscription code and its features.

1 2 4 8 16 32 64

0x01 0x02 0x04 0x08 0x10 0x20 0x40

20Hz e-Dif RTK Rover, RTK Base, Raw

Out

RTK Base, Raw Out

Raw Out L2 GLONASS Date Code (Additive Code)

Hex Cod

Standard 3000 0

Y 3001 1

Y 3002 2

Y Y 3003 3

Y 3004 4

Y Y 3005 5

Y Y 3006 6

Y Y Y 3007 7

Y 3008 8

Y Y 3009 9

Y Y 3010 A

Y Y Y 3011 B

Y Y 3012 C

Y Y Y 3013 D

Y Y Y 3014 E

Y Y Y Y 3015 F

Y 3016 10

Y Y 3017 11

Y Y 3018 12

Y Y Y 3019 13

Y Y 3020 14

Y Y Y 3021 15

Y Y Y 3022 16

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Y Y Y Y 3023 17

Y Y 3024 18

Y Y Y 3025 19

Y Y Y 3026 1A

Y Y Y Y 3027 1B

Y Y Y 3028 1C

Y Y Y Y 3029 1D

Y Y Y Y 3030 1E

Y Y Y Y Y 3031 1F

Y 3032 20

Y Y 3033 21

Y Y 3034 22

Y Y Y 3035 23

Y Y 3036 24

Y Y Y 3037 25

Y Y Y 3038 26

Y Y Y Y 3039 27

Y Y 3040 28

Y Y Y 3041 29

Y Y Y 3042 2A

Y Y Y Y 3043 2B

Y Y Y 3044 2C

1 2 4 8 16 32 64

0x01 0x02 0x04 0x08 0x10 0x20 0x40


Out

RTK Base, Raw Out


Hex Cod

Y Y Y Y 3045 2D

Y Y Y Y 3046 2E


533

Y Y Y Y Y 3047 2F

Y Y 3048 30

Y Y Y 3049 31

Y Y Y 3050 32

Y Y Y Y 3051 33

Y Y Y 3052 34

Y Y Y Y 3053 35

Y Y Y Y 3054 36

Y Y Y Y Y 3055 37

Y Y Y 3056 38

Y Y Y Y 3057 39

Y Y Y Y 3058 3A

Y Y Y Y Y 3059 3B

Y Y Y Y 3060 3C

Y Y Y Y Y 3061 3D

Y Y Y Y Y 3062 3E

Y Y Y Y Y Y 3063 3F

Y 3064 40

Y Y 3065 41

Y Y 3066 42

Y Y Y 3067 43

Y Y 3068 44

Y Y Y 3069 45

Y Y Y 3070 46

Y Y Y 3071 47

Y 3072 48

1 Y Y Y 3073 49

1 Y Y Y 3074 4A

Y Y 3075 4B

Y Y Y Y 3076 4C

Firmware

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Y Y Y 3077 4D

Y Y Y Y Y 3078 4E

Y Y Y Y 3079 4F

Y Y Y 3080 50

Y Y 3081 51

Y Y Y Y 3082 52

Y Y Y 3083 53

Y Y Y Y 3084 54

Y Y Y Y 3085 55

Y Y Y Y 3086 56

Y Y Y Y Y 3087 57

Y Y Y 3088 58

Y Y Y Y 3089 59

Y Y Y Y 3090 5A

Y Y Y Y Y 3091 5B

Y Y Y Y 3092 5C

1 2 4 8 16 32 64

0x01 0x02 0x04 0x08 0x10 0x20 0x40


Out

RTK Base, Raw Out


Hex Cod

Y Y Y Y Y 3093 5D

Y Y Y Y Y 3094 5E

Y Y Y Y Y Y 3095 5F

Y Y 3096 60

Y Y Y Y 3097 61

Y Y Y 3098 62

Y Y Y Y 3099 63

Y Y Y 3100 64


535

Y Y Y Y 3101 65

Y Y Y Y 3102 66

Y Y Y Y Y 3103 67

Y Y Y 3104 68

Y Y Y Y 3105 69

Y Y Y Y 3106 6A

Y Y Y Y Y 3107 6B

Y Y Y Y 3108 6C

Y Y Y Y Y 3109 6D

Y Y Y Y Y 3110 6E

Y Y Y Y Y Y 3111 6F

Y Y Y 3112 70

Y Y Y Y 3113 71

Y Y Y Y 3114 72

Y Y Y Y Y 3115 73

Y Y Y Y 3116 74

Y Y Y Y Y 3117 75

Y Y Y Y Y 3118 76

Y Y Y Y Y Y 3119 77

Y Y Y Y 3120 78

Y Y Y Y Y 3121 79

Y Y Y Y Y 3122 7A

Y Y Y Y Y Y 3123 7B

Y Y Y Y Y 3124 7C

Y Y Y Y Y Y 3125 7D

Y Y Y Y Y Y 3126 7E

Y Y Y Y Y Y Y 3127 7F


Firmware

536


537

Determining the Receiver Type and Current Application To determine the current receiver type, use the JT command. Table 1 shows the receiver type indicated by the JT response.

Table 1: $JT Response and Receiver Type

$JT Response Receiver Type

SX1x SX-1

SX2x Crescent

SLXx SLX2/SLX3

DF2x Eclipse

DF3x Eclipse II

MF3x miniEclipse

The 'x' in the responses represents the receiver’s current application. For example, if x = i, as in SX2i, 'i' is the application code for e-Dif.

Table 2 shows the application for the application code in the JT response.

Table 2: $JT Response and Application

$JT Responses with Application Code

Receiver Application

r RTK rover

b RTK base

i e-Dif

g L-band

g WAAS

g Standalone

a Vector


539

Ethernet Configuration

Some receivers have support for Ethernet. It is disabled by default but may be enabled with the $JETHERNET serial command.

Enabling and Disabling Ethernet To start, the full current state of Ethernet configuration may be checked with the command “$JETHERNET”. When ethernet is disabled, the following is displayed:

$JETHERNET

$>JETHERNET,MAC,8C-B7-F7-F0-00-01

$>JETHERNET,MODE,OFF

$>JETHERNET,PORTI,OFF

$>JETHERNET,PORTUDP,OFF

$>JETHERNET,NTRIPCLIENT,OFF

$>JETHERNET,IPADDRESS,NONE

To enable Ethernet, you first need to know if you are going to allow the receiver to be assigned an IP address automatically via DHCP, or statically assigned. If you are unsure, please contact the administrator of the network you wish to connect it to.

To enable Ethernet support with a DHCP-assigned IP address, simply use the command “$JETHERNET,MODE,DHCP”. The receiver will attempt to get an address from the DHCP server on the network. You should be able to see the current IP address reported by a “$JETHERNET” query change.

To enable Ethernet support with a statically assigned IP address, use the command “$JETHERNET,MODE,STATIC,ip,subnet,gateway,dns” where ip/subnet/gateway/dns are each replaced with the relevant IP address. The gateway and dns parameters are optional, and only useful for allowing outgoing connections from the P328, which are not currently supported anyway. An example command would be “$JETHERNET,MODE,STATIC,192.168.0.42,255.255.255.0”

If one wishes to disable Ethernet use the command “$JETHERNET,MODE,OFF”

Enabling Network Services With Ethernet enabled, it should be possible to send an ICMP ping to the receiver from a PC on the same network if one wishes to test that. No actual services are enabled on Ethernet by default however though, so to make practical use of Ethernet support, one must also enable a service.

As of the v6.0.0 firmware, the only services implemented the PORTI virtual serial port, PORTUDP, and NTRIPCLIENT. Additional types of network services may be implemented in future firmware versions.

For details regarding these services, please reference the relevant $JETHERNET,* command documentation for the service in question.

For sake of example, it is possible to enable the PORTI virtual serial port as a TCP server. Once a connection to it is made, it will act just like a local serial port of the receiver would. Only one TCP client may be connected to it at a time.

Important Note: Enabling PORTI as a TCP server should only be done when the network the receiver is connected to is considered to be a trusted network, since it gives full access to the receiver just as a local serial port would, and has no authentication mechanism.

Ethernet Configuration

540

To enable the PORTI service as a TCP server, use the command “$JETHERNET,PORTI,port” where port is replaced with the TCP port number which one wishes to use. Any port in the range 1 to 65535 is allowable, but it is recommended one consider which TCP port numbers are typically reserved for various common protocols and avoid those port numbers.

To disable the PORTI service, use the command “$JETHERNET,PORTI,OFF”.

As an additional note, when the connected to a network, the receiver can be accessed with a hostname of “hgnss########.local” where ######## is replaced with the receiver’s electronic serial number as is reported by the $JI command. This can make it easier to connect to a receiver on a local network that was assigned an IP address by DHCP, so you do not need to check which IP address it was assigned.

Topic Last Updated: v3.0/December 30, 2019

541

Enabling Ethernet Services With Ethernet enabled, it should be possible to send an ICMP ping to the P328 receiver from a PC on the same network, if one wishes to test that. No actual services are enabled on Ethernet by default however though, so to make practical use of Ethernet support, one must also enable a service.

As of the writing of this document, the only Ethernet service implemented is the PORTI virtual serial port. Additional types of Ethernet services may be implemented in future firmware versions.

The PORTI virtual serial port allows a listening TCP port to be opened, which will act just like a local serial port of the receiver would. Only one TCP client may be connected at a time.

Important Note: Enabling “PORTI” on Ethernet should only be done with the P328 connected to a trusted network, since it gives full access to the receiver just as a local serial port would, and has no authentication or security mechanisms.

To enable the PORTI service, use the command:

$JETHERNET,PORTI,port

where port is replaced with the TCP port number which one wishes to use. Any port in the range 1 to 65535 is allowable, but it is recommended one consider which TCP port numbers are typically reserved for various common protocols and avoid those port numbers.

To disable the PORTI service, use the command:

$JETHERNET,PORTI,OFF


543

Resources Resources Reference Documents

National Marine Electronics Association, National Marine Electronics Association (NMEA) Standard for Interfacing Marine Electronic Devices

Version 2.1, October 15, NMEA 1995

7 Riggs Avenue

Severna Park, MD 21146

Tel:+1-410-975-9425

Tel Toll Free: +1-800-808-6632

http://www.nmea.org/

Radio Technical Commission for Maritime Services, RTCM Recommended Standards for Differential NAVSTAR GPS Service

Version 2.2

Developed by Special Committee No. 104, RTCM

1998 1800 N Kent St, Suite 1060

Arlington, VA 22209, USA Tel: +1-703-527-2000 http://www.rtcm.org/

Radio Technical Commission for Aeronautics, Minimum Operational Performance Standards (MOPS) for Global Positioning System/Wide Area Augmentation System Airborne Equipment Document RTCA D0-229A, Special Committee No. 159, RTCA 1998

71828 L Street, NW, Suite 805

Washington, D.C. 20036 USA Tel:+1-202-833-9339 http://www.rtca.org/ ARIC Research Corporation,Interface Control Document, Navstar GPS Space Segment/Navigation User Interfaces ICD-GPS-200, April 12, 2000 2250 E. Imperial Highway,

Suite 450 El Segundo, CA

90245-3509

http://www.navcen.uscg.gov/

http://www.nmea.org/

http://www.rtcm.org/

http://www.rtca.org/

http://www.navcen.uscg.gov/

Resources

544


Websites Hemisphere GNSS http://www.hemispheregnss.com

FAA WAAS

This site offers general information on the WAAS service provided by the U.S. FAAS.

http://www.faa.gov/about/office_org/headquarters_offices/ato/service_units/techops/navservices/gnss/waas/

ESA EGNOS System Test Bed

This site contains information relating to past performance, real-time performance, and broadcast schedule of EGNOS.

http://www.esa.int/esaNA/egnos.html

Solar and Ionosphereic Activity

The following sites are useful in providing details regarding solar and ionospheric activity.

http://iono.jpl.nasa.gov

http://www.spaceweather.com



http://www.faa.gov/about/office_org/headquarters_offices/ato/service_units/techops/navservices/gnss/waas/

http://www.esa.int/esaNA/egnos.html

http://iono.jpl.nasa.gov/

http://www.spaceweather.com/